
kal:     file format elf64-littleaarch64


Disassembly of section .init:

00000000004004f8 <_init>:
  4004f8:	a9bf7bfd 	stp	x29, x30, [sp, #-16]!
  4004fc:	910003fd 	mov	x29, sp
  400500:	94000036 	bl	4005d8 <call_weak_fn>
  400504:	a8c17bfd 	ldp	x29, x30, [sp], #16
  400508:	d65f03c0 	ret

Disassembly of section .plt:

0000000000400510 <.plt>:
  400510:	a9bf7bf0 	stp	x16, x30, [sp, #-16]!
  400514:	d0000090 	adrp	x16, 412000 <__FRAME_END__+0x101e0>
  400518:	f947fe11 	ldr	x17, [x16, #4088]
  40051c:	913fe210 	add	x16, x16, #0xff8
  400520:	d61f0220 	br	x17
  400524:	d503201f 	nop
  400528:	d503201f 	nop
  40052c:	d503201f 	nop

0000000000400530 <malloc@plt>:
  400530:	f0000090 	adrp	x16, 413000 <malloc@GLIBC_2.17>
  400534:	f9400211 	ldr	x17, [x16]
  400538:	91000210 	add	x16, x16, #0x0
  40053c:	d61f0220 	br	x17

0000000000400540 <__libc_start_main@plt>:
  400540:	f0000090 	adrp	x16, 413000 <malloc@GLIBC_2.17>
  400544:	f9400611 	ldr	x17, [x16, #8]
  400548:	91002210 	add	x16, x16, #0x8
  40054c:	d61f0220 	br	x17

0000000000400550 <__gmon_start__@plt>:
  400550:	f0000090 	adrp	x16, 413000 <malloc@GLIBC_2.17>
  400554:	f9400a11 	ldr	x17, [x16, #16]
  400558:	91004210 	add	x16, x16, #0x10
  40055c:	d61f0220 	br	x17

0000000000400560 <abort@plt>:
  400560:	f0000090 	adrp	x16, 413000 <malloc@GLIBC_2.17>
  400564:	f9400e11 	ldr	x17, [x16, #24]
  400568:	91006210 	add	x16, x16, #0x18
  40056c:	d61f0220 	br	x17

0000000000400570 <puts@plt>:
  400570:	f0000090 	adrp	x16, 413000 <malloc@GLIBC_2.17>
  400574:	f9401211 	ldr	x17, [x16, #32]
  400578:	91008210 	add	x16, x16, #0x20
  40057c:	d61f0220 	br	x17

0000000000400580 <free@plt>:
  400580:	f0000090 	adrp	x16, 413000 <malloc@GLIBC_2.17>
  400584:	f9401611 	ldr	x17, [x16, #40]
  400588:	9100a210 	add	x16, x16, #0x28
  40058c:	d61f0220 	br	x17

Disassembly of section .text:

0000000000400590 <_start>:
  400590:	d280001d 	mov	x29, #0x0                   	// #0
  400594:	d280001e 	mov	x30, #0x0                   	// #0
  400598:	aa0003e5 	mov	x5, x0
  40059c:	f94003e1 	ldr	x1, [sp]
  4005a0:	910023e2 	add	x2, sp, #0x8
  4005a4:	910003e6 	mov	x6, sp
  4005a8:	580000c0 	ldr	x0, 4005c0 <_start+0x30>
  4005ac:	580000e3 	ldr	x3, 4005c8 <_start+0x38>
  4005b0:	58000104 	ldr	x4, 4005d0 <_start+0x40>
  4005b4:	97ffffe3 	bl	400540 <__libc_start_main@plt>
  4005b8:	97ffffea 	bl	400560 <abort@plt>
  4005bc:	00000000 	.inst	0x00000000 ; undefined
  4005c0:	00400e58 	.word	0x00400e58
  4005c4:	00000000 	.word	0x00000000
  4005c8:	00401d60 	.word	0x00401d60
  4005cc:	00000000 	.word	0x00000000
  4005d0:	00401de0 	.word	0x00401de0
  4005d4:	00000000 	.word	0x00000000

00000000004005d8 <call_weak_fn>:
  4005d8:	d0000080 	adrp	x0, 412000 <__FRAME_END__+0x101e0>
  4005dc:	f947f000 	ldr	x0, [x0, #4064]
  4005e0:	b4000040 	cbz	x0, 4005e8 <call_weak_fn+0x10>
  4005e4:	17ffffdb 	b	400550 <__gmon_start__@plt>
  4005e8:	d65f03c0 	ret
  4005ec:	00000000 	.inst	0x00000000 ; undefined

00000000004005f0 <deregister_tm_clones>:
  4005f0:	f0000080 	adrp	x0, 413000 <malloc@GLIBC_2.17>
  4005f4:	91010000 	add	x0, x0, #0x40
  4005f8:	f0000081 	adrp	x1, 413000 <malloc@GLIBC_2.17>
  4005fc:	91010021 	add	x1, x1, #0x40
  400600:	eb00003f 	cmp	x1, x0
  400604:	540000a0 	b.eq	400618 <deregister_tm_clones+0x28>  // b.none
  400608:	b0000001 	adrp	x1, 401000 <kalman+0x1a0>
  40060c:	f9470021 	ldr	x1, [x1, #3584]
  400610:	b4000041 	cbz	x1, 400618 <deregister_tm_clones+0x28>
  400614:	d61f0020 	br	x1
  400618:	d65f03c0 	ret
  40061c:	d503201f 	nop

0000000000400620 <register_tm_clones>:
  400620:	f0000080 	adrp	x0, 413000 <malloc@GLIBC_2.17>
  400624:	91010000 	add	x0, x0, #0x40
  400628:	f0000081 	adrp	x1, 413000 <malloc@GLIBC_2.17>
  40062c:	91010021 	add	x1, x1, #0x40
  400630:	cb000021 	sub	x1, x1, x0
  400634:	9343fc21 	asr	x1, x1, #3
  400638:	8b41fc21 	add	x1, x1, x1, lsr #63
  40063c:	9341fc21 	asr	x1, x1, #1
  400640:	b40000a1 	cbz	x1, 400654 <register_tm_clones+0x34>
  400644:	b0000002 	adrp	x2, 401000 <kalman+0x1a0>
  400648:	f9470442 	ldr	x2, [x2, #3592]
  40064c:	b4000042 	cbz	x2, 400654 <register_tm_clones+0x34>
  400650:	d61f0040 	br	x2
  400654:	d65f03c0 	ret

0000000000400658 <__do_global_dtors_aux>:
  400658:	a9be7bfd 	stp	x29, x30, [sp, #-32]!
  40065c:	910003fd 	mov	x29, sp
  400660:	f9000bf3 	str	x19, [sp, #16]
  400664:	f0000093 	adrp	x19, 413000 <malloc@GLIBC_2.17>
  400668:	39410260 	ldrb	w0, [x19, #64]
  40066c:	35000080 	cbnz	w0, 40067c <__do_global_dtors_aux+0x24>
  400670:	97ffffe0 	bl	4005f0 <deregister_tm_clones>
  400674:	52800020 	mov	w0, #0x1                   	// #1
  400678:	39010260 	strb	w0, [x19, #64]
  40067c:	f9400bf3 	ldr	x19, [sp, #16]
  400680:	a8c27bfd 	ldp	x29, x30, [sp], #32
  400684:	d65f03c0 	ret

0000000000400688 <frame_dummy>:
  400688:	17ffffe6 	b	400620 <register_tm_clones>

000000000040068c <rinv>:
  40068c:	a9ba7bfd 	stp	x29, x30, [sp, #-96]!
  400690:	910003fd 	mov	x29, sp
  400694:	f9000fa0 	str	x0, [x29, #24]
  400698:	b90017a1 	str	w1, [x29, #20]
  40069c:	b98017a0 	ldrsw	x0, [x29, #20]
  4006a0:	d37ef400 	lsl	x0, x0, #2
  4006a4:	97ffffa3 	bl	400530 <malloc@plt>
  4006a8:	f90027a0 	str	x0, [x29, #72]
  4006ac:	b98017a0 	ldrsw	x0, [x29, #20]
  4006b0:	d37ef400 	lsl	x0, x0, #2
  4006b4:	97ffff9f 	bl	400530 <malloc@plt>
  4006b8:	f90023a0 	str	x0, [x29, #64]
  4006bc:	b9005fbf 	str	wzr, [x29, #92]
  4006c0:	1400015d 	b	400c34 <rinv+0x5a8>
  4006c4:	f9002bbf 	str	xzr, [x29, #80]
  4006c8:	b9405fa0 	ldr	w0, [x29, #92]
  4006cc:	b90027a0 	str	w0, [x29, #36]
  4006d0:	1400002f 	b	40078c <rinv+0x100>
  4006d4:	b9405fa0 	ldr	w0, [x29, #92]
  4006d8:	b9003fa0 	str	w0, [x29, #60]
  4006dc:	14000023 	b	400768 <rinv+0xdc>
  4006e0:	b94027a1 	ldr	w1, [x29, #36]
  4006e4:	b94017a0 	ldr	w0, [x29, #20]
  4006e8:	1b007c20 	mul	w0, w1, w0
  4006ec:	b9403fa1 	ldr	w1, [x29, #60]
  4006f0:	0b000020 	add	w0, w1, w0
  4006f4:	b90023a0 	str	w0, [x29, #32]
  4006f8:	b98023a0 	ldrsw	x0, [x29, #32]
  4006fc:	d37df000 	lsl	x0, x0, #3
  400700:	f9400fa1 	ldr	x1, [x29, #24]
  400704:	8b000020 	add	x0, x1, x0
  400708:	fd400000 	ldr	d0, [x0]
  40070c:	1e60c000 	fabs	d0, d0
  400710:	fd0017a0 	str	d0, [x29, #40]
  400714:	fd4017a1 	ldr	d1, [x29, #40]
  400718:	fd402ba0 	ldr	d0, [x29, #80]
  40071c:	1e602030 	fcmpe	d1, d0
  400720:	540001ed 	b.le	40075c <rinv+0xd0>
  400724:	fd4017a0 	ldr	d0, [x29, #40]
  400728:	fd002ba0 	str	d0, [x29, #80]
  40072c:	b9805fa0 	ldrsw	x0, [x29, #92]
  400730:	d37ef400 	lsl	x0, x0, #2
  400734:	f94027a1 	ldr	x1, [x29, #72]
  400738:	8b000020 	add	x0, x1, x0
  40073c:	b94027a1 	ldr	w1, [x29, #36]
  400740:	b9000001 	str	w1, [x0]
  400744:	b9805fa0 	ldrsw	x0, [x29, #92]
  400748:	d37ef400 	lsl	x0, x0, #2
  40074c:	f94023a1 	ldr	x1, [x29, #64]
  400750:	8b000020 	add	x0, x1, x0
  400754:	b9403fa1 	ldr	w1, [x29, #60]
  400758:	b9000001 	str	w1, [x0]
  40075c:	b9403fa0 	ldr	w0, [x29, #60]
  400760:	11000400 	add	w0, w0, #0x1
  400764:	b9003fa0 	str	w0, [x29, #60]
  400768:	b94017a0 	ldr	w0, [x29, #20]
  40076c:	51000400 	sub	w0, w0, #0x1
  400770:	b9003fa0 	str	w0, [x29, #60]
  400774:	b9403fa0 	ldr	w0, [x29, #60]
  400778:	7100001f 	cmp	w0, #0x0
  40077c:	54fffb21 	b.ne	4006e0 <rinv+0x54>  // b.any
  400780:	b94027a0 	ldr	w0, [x29, #36]
  400784:	11000400 	add	w0, w0, #0x1
  400788:	b90027a0 	str	w0, [x29, #36]
  40078c:	b94017a0 	ldr	w0, [x29, #20]
  400790:	51000400 	sub	w0, w0, #0x1
  400794:	b90027a0 	str	w0, [x29, #36]
  400798:	b94027a0 	ldr	w0, [x29, #36]
  40079c:	7100001f 	cmp	w0, #0x0
  4007a0:	54fff9a1 	b.ne	4006d4 <rinv+0x48>  // b.any
  4007a4:	fd402ba1 	ldr	d1, [x29, #80]
  4007a8:	1e6e1000 	fmov	d0, #1.000000000000000000e+00
  4007ac:	1e602821 	fadd	d1, d1, d0
  4007b0:	1e6e1000 	fmov	d0, #1.000000000000000000e+00
  4007b4:	1e602020 	fcmp	d1, d0
  4007b8:	54000141 	b.ne	4007e0 <rinv+0x154>  // b.any
  4007bc:	f94027a0 	ldr	x0, [x29, #72]
  4007c0:	97ffff70 	bl	400580 <free@plt>
  4007c4:	f94023a0 	ldr	x0, [x29, #64]
  4007c8:	97ffff6e 	bl	400580 <free@plt>
  4007cc:	b0000000 	adrp	x0, 401000 <kalman+0x1a0>
  4007d0:	91384000 	add	x0, x0, #0xe10
  4007d4:	97ffff67 	bl	400570 <puts@plt>
  4007d8:	52800000 	mov	w0, #0x0                   	// #0
  4007dc:	1400019d 	b	400e50 <rinv+0x7c4>
  4007e0:	b9805fa0 	ldrsw	x0, [x29, #92]
  4007e4:	d37ef400 	lsl	x0, x0, #2
  4007e8:	f94027a1 	ldr	x1, [x29, #72]
  4007ec:	8b000020 	add	x0, x1, x0
  4007f0:	b9400000 	ldr	w0, [x0]
  4007f4:	b9405fa1 	ldr	w1, [x29, #92]
  4007f8:	6b00003f 	cmp	w1, w0
  4007fc:	54000640 	b.eq	4008c4 <rinv+0x238>  // b.none
  400800:	b9003fbf 	str	wzr, [x29, #60]
  400804:	1400002a 	b	4008ac <rinv+0x220>
  400808:	b9405fa1 	ldr	w1, [x29, #92]
  40080c:	b94017a0 	ldr	w0, [x29, #20]
  400810:	1b007c20 	mul	w0, w1, w0
  400814:	b9403fa1 	ldr	w1, [x29, #60]
  400818:	0b000020 	add	w0, w1, w0
  40081c:	b9003ba0 	str	w0, [x29, #56]
  400820:	b9805fa0 	ldrsw	x0, [x29, #92]
  400824:	d37ef400 	lsl	x0, x0, #2
  400828:	f94027a1 	ldr	x1, [x29, #72]
  40082c:	8b000020 	add	x0, x1, x0
  400830:	b9400001 	ldr	w1, [x0]
  400834:	b94017a0 	ldr	w0, [x29, #20]
  400838:	1b007c20 	mul	w0, w1, w0
  40083c:	b9403fa1 	ldr	w1, [x29, #60]
  400840:	0b000020 	add	w0, w1, w0
  400844:	b90037a0 	str	w0, [x29, #52]
  400848:	b9803ba0 	ldrsw	x0, [x29, #56]
  40084c:	d37df000 	lsl	x0, x0, #3
  400850:	f9400fa1 	ldr	x1, [x29, #24]
  400854:	8b000020 	add	x0, x1, x0
  400858:	fd400000 	ldr	d0, [x0]
  40085c:	fd0017a0 	str	d0, [x29, #40]
  400860:	b98037a0 	ldrsw	x0, [x29, #52]
  400864:	d37df000 	lsl	x0, x0, #3
  400868:	f9400fa1 	ldr	x1, [x29, #24]
  40086c:	8b000021 	add	x1, x1, x0
  400870:	b9803ba0 	ldrsw	x0, [x29, #56]
  400874:	d37df000 	lsl	x0, x0, #3
  400878:	f9400fa2 	ldr	x2, [x29, #24]
  40087c:	8b000040 	add	x0, x2, x0
  400880:	fd400020 	ldr	d0, [x1]
  400884:	fd000000 	str	d0, [x0]
  400888:	b98037a0 	ldrsw	x0, [x29, #52]
  40088c:	d37df000 	lsl	x0, x0, #3
  400890:	f9400fa1 	ldr	x1, [x29, #24]
  400894:	8b000020 	add	x0, x1, x0
  400898:	fd4017a0 	ldr	d0, [x29, #40]
  40089c:	fd000000 	str	d0, [x0]
  4008a0:	b9403fa0 	ldr	w0, [x29, #60]
  4008a4:	11000400 	add	w0, w0, #0x1
  4008a8:	b9003fa0 	str	w0, [x29, #60]
  4008ac:	b94017a0 	ldr	w0, [x29, #20]
  4008b0:	51000400 	sub	w0, w0, #0x1
  4008b4:	b9003fa0 	str	w0, [x29, #60]
  4008b8:	b9403fa0 	ldr	w0, [x29, #60]
  4008bc:	7100001f 	cmp	w0, #0x0
  4008c0:	54fffa41 	b.ne	400808 <rinv+0x17c>  // b.any
  4008c4:	b9805fa0 	ldrsw	x0, [x29, #92]
  4008c8:	d37ef400 	lsl	x0, x0, #2
  4008cc:	f94023a1 	ldr	x1, [x29, #64]
  4008d0:	8b000020 	add	x0, x1, x0
  4008d4:	b9400000 	ldr	w0, [x0]
  4008d8:	b9405fa1 	ldr	w1, [x29, #92]
  4008dc:	6b00003f 	cmp	w1, w0
  4008e0:	54000640 	b.eq	4009a8 <rinv+0x31c>  // b.none
  4008e4:	b90027bf 	str	wzr, [x29, #36]
  4008e8:	1400002a 	b	400990 <rinv+0x304>
  4008ec:	b94027a1 	ldr	w1, [x29, #36]
  4008f0:	b94017a0 	ldr	w0, [x29, #20]
  4008f4:	1b007c20 	mul	w0, w1, w0
  4008f8:	b9405fa1 	ldr	w1, [x29, #92]
  4008fc:	0b000020 	add	w0, w1, w0
  400900:	b9003ba0 	str	w0, [x29, #56]
  400904:	b94027a1 	ldr	w1, [x29, #36]
  400908:	b94017a0 	ldr	w0, [x29, #20]
  40090c:	1b007c21 	mul	w1, w1, w0
  400910:	b9805fa0 	ldrsw	x0, [x29, #92]
  400914:	d37ef400 	lsl	x0, x0, #2
  400918:	f94023a2 	ldr	x2, [x29, #64]
  40091c:	8b000040 	add	x0, x2, x0
  400920:	b9400000 	ldr	w0, [x0]
  400924:	0b000020 	add	w0, w1, w0
  400928:	b90037a0 	str	w0, [x29, #52]
  40092c:	b9803ba0 	ldrsw	x0, [x29, #56]
  400930:	d37df000 	lsl	x0, x0, #3
  400934:	f9400fa1 	ldr	x1, [x29, #24]
  400938:	8b000020 	add	x0, x1, x0
  40093c:	fd400000 	ldr	d0, [x0]
  400940:	fd0017a0 	str	d0, [x29, #40]
  400944:	b98037a0 	ldrsw	x0, [x29, #52]
  400948:	d37df000 	lsl	x0, x0, #3
  40094c:	f9400fa1 	ldr	x1, [x29, #24]
  400950:	8b000021 	add	x1, x1, x0
  400954:	b9803ba0 	ldrsw	x0, [x29, #56]
  400958:	d37df000 	lsl	x0, x0, #3
  40095c:	f9400fa2 	ldr	x2, [x29, #24]
  400960:	8b000040 	add	x0, x2, x0
  400964:	fd400020 	ldr	d0, [x1]
  400968:	fd000000 	str	d0, [x0]
  40096c:	b98037a0 	ldrsw	x0, [x29, #52]
  400970:	d37df000 	lsl	x0, x0, #3
  400974:	f9400fa1 	ldr	x1, [x29, #24]
  400978:	8b000020 	add	x0, x1, x0
  40097c:	fd4017a0 	ldr	d0, [x29, #40]
  400980:	fd000000 	str	d0, [x0]
  400984:	b94027a0 	ldr	w0, [x29, #36]
  400988:	11000400 	add	w0, w0, #0x1
  40098c:	b90027a0 	str	w0, [x29, #36]
  400990:	b94017a0 	ldr	w0, [x29, #20]
  400994:	51000400 	sub	w0, w0, #0x1
  400998:	b90027a0 	str	w0, [x29, #36]
  40099c:	b94027a0 	ldr	w0, [x29, #36]
  4009a0:	7100001f 	cmp	w0, #0x0
  4009a4:	54fffa41 	b.ne	4008ec <rinv+0x260>  // b.any
  4009a8:	b94017a0 	ldr	w0, [x29, #20]
  4009ac:	11000400 	add	w0, w0, #0x1
  4009b0:	b9405fa1 	ldr	w1, [x29, #92]
  4009b4:	1b007c20 	mul	w0, w1, w0
  4009b8:	b90023a0 	str	w0, [x29, #32]
  4009bc:	b98023a0 	ldrsw	x0, [x29, #32]
  4009c0:	d37df000 	lsl	x0, x0, #3
  4009c4:	f9400fa1 	ldr	x1, [x29, #24]
  4009c8:	8b000020 	add	x0, x1, x0
  4009cc:	fd400000 	ldr	d0, [x0]
  4009d0:	b98023a0 	ldrsw	x0, [x29, #32]
  4009d4:	d37df000 	lsl	x0, x0, #3
  4009d8:	f9400fa1 	ldr	x1, [x29, #24]
  4009dc:	8b000020 	add	x0, x1, x0
  4009e0:	1e6e1001 	fmov	d1, #1.000000000000000000e+00
  4009e4:	1e601820 	fdiv	d0, d1, d0
  4009e8:	fd000000 	str	d0, [x0]
  4009ec:	b9003fbf 	str	wzr, [x29, #60]
  4009f0:	1400001e 	b	400a68 <rinv+0x3dc>
  4009f4:	b9403fa1 	ldr	w1, [x29, #60]
  4009f8:	b9405fa0 	ldr	w0, [x29, #92]
  4009fc:	6b00003f 	cmp	w1, w0
  400a00:	540002e0 	b.eq	400a5c <rinv+0x3d0>  // b.none
  400a04:	b9405fa1 	ldr	w1, [x29, #92]
  400a08:	b94017a0 	ldr	w0, [x29, #20]
  400a0c:	1b007c20 	mul	w0, w1, w0
  400a10:	b9403fa1 	ldr	w1, [x29, #60]
  400a14:	0b000020 	add	w0, w1, w0
  400a18:	b9003ba0 	str	w0, [x29, #56]
  400a1c:	b9803ba0 	ldrsw	x0, [x29, #56]
  400a20:	d37df000 	lsl	x0, x0, #3
  400a24:	f9400fa1 	ldr	x1, [x29, #24]
  400a28:	8b000020 	add	x0, x1, x0
  400a2c:	fd400001 	ldr	d1, [x0]
  400a30:	b98023a0 	ldrsw	x0, [x29, #32]
  400a34:	d37df000 	lsl	x0, x0, #3
  400a38:	f9400fa1 	ldr	x1, [x29, #24]
  400a3c:	8b000020 	add	x0, x1, x0
  400a40:	fd400000 	ldr	d0, [x0]
  400a44:	b9803ba0 	ldrsw	x0, [x29, #56]
  400a48:	d37df000 	lsl	x0, x0, #3
  400a4c:	f9400fa1 	ldr	x1, [x29, #24]
  400a50:	8b000020 	add	x0, x1, x0
  400a54:	1e600820 	fmul	d0, d1, d0
  400a58:	fd000000 	str	d0, [x0]
  400a5c:	b9403fa0 	ldr	w0, [x29, #60]
  400a60:	11000400 	add	w0, w0, #0x1
  400a64:	b9003fa0 	str	w0, [x29, #60]
  400a68:	b94017a0 	ldr	w0, [x29, #20]
  400a6c:	51000400 	sub	w0, w0, #0x1
  400a70:	b9003fa0 	str	w0, [x29, #60]
  400a74:	b9403fa0 	ldr	w0, [x29, #60]
  400a78:	7100001f 	cmp	w0, #0x0
  400a7c:	54fffbc1 	b.ne	4009f4 <rinv+0x368>  // b.any
  400a80:	b90027bf 	str	wzr, [x29, #36]
  400a84:	1400003d 	b	400b78 <rinv+0x4ec>
  400a88:	b94027a1 	ldr	w1, [x29, #36]
  400a8c:	b9405fa0 	ldr	w0, [x29, #92]
  400a90:	6b00003f 	cmp	w1, w0
  400a94:	540006c0 	b.eq	400b6c <rinv+0x4e0>  // b.none
  400a98:	b9003fbf 	str	wzr, [x29, #60]
  400a9c:	1400002e 	b	400b54 <rinv+0x4c8>
  400aa0:	b9403fa1 	ldr	w1, [x29, #60]
  400aa4:	b9405fa0 	ldr	w0, [x29, #92]
  400aa8:	6b00003f 	cmp	w1, w0
  400aac:	540004e0 	b.eq	400b48 <rinv+0x4bc>  // b.none
  400ab0:	b94027a1 	ldr	w1, [x29, #36]
  400ab4:	b94017a0 	ldr	w0, [x29, #20]
  400ab8:	1b007c20 	mul	w0, w1, w0
  400abc:	b9403fa1 	ldr	w1, [x29, #60]
  400ac0:	0b000020 	add	w0, w1, w0
  400ac4:	b9003ba0 	str	w0, [x29, #56]
  400ac8:	b9803ba0 	ldrsw	x0, [x29, #56]
  400acc:	d37df000 	lsl	x0, x0, #3
  400ad0:	f9400fa1 	ldr	x1, [x29, #24]
  400ad4:	8b000020 	add	x0, x1, x0
  400ad8:	fd400001 	ldr	d1, [x0]
  400adc:	b94027a1 	ldr	w1, [x29, #36]
  400ae0:	b94017a0 	ldr	w0, [x29, #20]
  400ae4:	1b007c21 	mul	w1, w1, w0
  400ae8:	b9405fa0 	ldr	w0, [x29, #92]
  400aec:	0b000020 	add	w0, w1, w0
  400af0:	93407c00 	sxtw	x0, w0
  400af4:	d37df000 	lsl	x0, x0, #3
  400af8:	f9400fa1 	ldr	x1, [x29, #24]
  400afc:	8b000020 	add	x0, x1, x0
  400b00:	fd400002 	ldr	d2, [x0]
  400b04:	b9405fa1 	ldr	w1, [x29, #92]
  400b08:	b94017a0 	ldr	w0, [x29, #20]
  400b0c:	1b007c21 	mul	w1, w1, w0
  400b10:	b9403fa0 	ldr	w0, [x29, #60]
  400b14:	0b000020 	add	w0, w1, w0
  400b18:	93407c00 	sxtw	x0, w0
  400b1c:	d37df000 	lsl	x0, x0, #3
  400b20:	f9400fa1 	ldr	x1, [x29, #24]
  400b24:	8b000020 	add	x0, x1, x0
  400b28:	fd400000 	ldr	d0, [x0]
  400b2c:	1e600840 	fmul	d0, d2, d0
  400b30:	b9803ba0 	ldrsw	x0, [x29, #56]
  400b34:	d37df000 	lsl	x0, x0, #3
  400b38:	f9400fa1 	ldr	x1, [x29, #24]
  400b3c:	8b000020 	add	x0, x1, x0
  400b40:	1e603820 	fsub	d0, d1, d0
  400b44:	fd000000 	str	d0, [x0]
  400b48:	b9403fa0 	ldr	w0, [x29, #60]
  400b4c:	11000400 	add	w0, w0, #0x1
  400b50:	b9003fa0 	str	w0, [x29, #60]
  400b54:	b94017a0 	ldr	w0, [x29, #20]
  400b58:	51000400 	sub	w0, w0, #0x1
  400b5c:	b9003fa0 	str	w0, [x29, #60]
  400b60:	b9403fa0 	ldr	w0, [x29, #60]
  400b64:	7100001f 	cmp	w0, #0x0
  400b68:	54fff9c1 	b.ne	400aa0 <rinv+0x414>  // b.any
  400b6c:	b94027a0 	ldr	w0, [x29, #36]
  400b70:	11000400 	add	w0, w0, #0x1
  400b74:	b90027a0 	str	w0, [x29, #36]
  400b78:	b94017a0 	ldr	w0, [x29, #20]
  400b7c:	51000400 	sub	w0, w0, #0x1
  400b80:	b90027a0 	str	w0, [x29, #36]
  400b84:	b94027a0 	ldr	w0, [x29, #36]
  400b88:	7100001f 	cmp	w0, #0x0
  400b8c:	54fff7e1 	b.ne	400a88 <rinv+0x3fc>  // b.any
  400b90:	b90027bf 	str	wzr, [x29, #36]
  400b94:	1400001f 	b	400c10 <rinv+0x584>
  400b98:	b94027a1 	ldr	w1, [x29, #36]
  400b9c:	b9405fa0 	ldr	w0, [x29, #92]
  400ba0:	6b00003f 	cmp	w1, w0
  400ba4:	54000300 	b.eq	400c04 <rinv+0x578>  // b.none
  400ba8:	b94027a1 	ldr	w1, [x29, #36]
  400bac:	b94017a0 	ldr	w0, [x29, #20]
  400bb0:	1b007c20 	mul	w0, w1, w0
  400bb4:	b9405fa1 	ldr	w1, [x29, #92]
  400bb8:	0b000020 	add	w0, w1, w0
  400bbc:	b9003ba0 	str	w0, [x29, #56]
  400bc0:	b9803ba0 	ldrsw	x0, [x29, #56]
  400bc4:	d37df000 	lsl	x0, x0, #3
  400bc8:	f9400fa1 	ldr	x1, [x29, #24]
  400bcc:	8b000020 	add	x0, x1, x0
  400bd0:	fd400000 	ldr	d0, [x0]
  400bd4:	1e614001 	fneg	d1, d0
  400bd8:	b98023a0 	ldrsw	x0, [x29, #32]
  400bdc:	d37df000 	lsl	x0, x0, #3
  400be0:	f9400fa1 	ldr	x1, [x29, #24]
  400be4:	8b000020 	add	x0, x1, x0
  400be8:	fd400000 	ldr	d0, [x0]
  400bec:	b9803ba0 	ldrsw	x0, [x29, #56]
  400bf0:	d37df000 	lsl	x0, x0, #3
  400bf4:	f9400fa1 	ldr	x1, [x29, #24]
  400bf8:	8b000020 	add	x0, x1, x0
  400bfc:	1e600820 	fmul	d0, d1, d0
  400c00:	fd000000 	str	d0, [x0]
  400c04:	b94027a0 	ldr	w0, [x29, #36]
  400c08:	11000400 	add	w0, w0, #0x1
  400c0c:	b90027a0 	str	w0, [x29, #36]
  400c10:	b94017a0 	ldr	w0, [x29, #20]
  400c14:	51000400 	sub	w0, w0, #0x1
  400c18:	b90027a0 	str	w0, [x29, #36]
  400c1c:	b94027a0 	ldr	w0, [x29, #36]
  400c20:	7100001f 	cmp	w0, #0x0
  400c24:	54fffba1 	b.ne	400b98 <rinv+0x50c>  // b.any
  400c28:	b9405fa0 	ldr	w0, [x29, #92]
  400c2c:	11000400 	add	w0, w0, #0x1
  400c30:	b9005fa0 	str	w0, [x29, #92]
  400c34:	b94017a0 	ldr	w0, [x29, #20]
  400c38:	51000400 	sub	w0, w0, #0x1
  400c3c:	b9005fa0 	str	w0, [x29, #92]
  400c40:	b9405fa0 	ldr	w0, [x29, #92]
  400c44:	7100001f 	cmp	w0, #0x0
  400c48:	54ffd3e1 	b.ne	4006c4 <rinv+0x38>  // b.any
  400c4c:	b94017a0 	ldr	w0, [x29, #20]
  400c50:	51000400 	sub	w0, w0, #0x1
  400c54:	b9005fa0 	str	w0, [x29, #92]
  400c58:	14000076 	b	400e30 <rinv+0x7a4>
  400c5c:	b9805fa0 	ldrsw	x0, [x29, #92]
  400c60:	d37ef400 	lsl	x0, x0, #2
  400c64:	f94023a1 	ldr	x1, [x29, #64]
  400c68:	8b000020 	add	x0, x1, x0
  400c6c:	b9400000 	ldr	w0, [x0]
  400c70:	b9405fa1 	ldr	w1, [x29, #92]
  400c74:	6b00003f 	cmp	w1, w0
  400c78:	54000640 	b.eq	400d40 <rinv+0x6b4>  // b.none
  400c7c:	b9003fbf 	str	wzr, [x29, #60]
  400c80:	1400002a 	b	400d28 <rinv+0x69c>
  400c84:	b9405fa1 	ldr	w1, [x29, #92]
  400c88:	b94017a0 	ldr	w0, [x29, #20]
  400c8c:	1b007c20 	mul	w0, w1, w0
  400c90:	b9403fa1 	ldr	w1, [x29, #60]
  400c94:	0b000020 	add	w0, w1, w0
  400c98:	b9003ba0 	str	w0, [x29, #56]
  400c9c:	b9805fa0 	ldrsw	x0, [x29, #92]
  400ca0:	d37ef400 	lsl	x0, x0, #2
  400ca4:	f94023a1 	ldr	x1, [x29, #64]
  400ca8:	8b000020 	add	x0, x1, x0
  400cac:	b9400001 	ldr	w1, [x0]
  400cb0:	b94017a0 	ldr	w0, [x29, #20]
  400cb4:	1b007c20 	mul	w0, w1, w0
  400cb8:	b9403fa1 	ldr	w1, [x29, #60]
  400cbc:	0b000020 	add	w0, w1, w0
  400cc0:	b90037a0 	str	w0, [x29, #52]
  400cc4:	b9803ba0 	ldrsw	x0, [x29, #56]
  400cc8:	d37df000 	lsl	x0, x0, #3
  400ccc:	f9400fa1 	ldr	x1, [x29, #24]
  400cd0:	8b000020 	add	x0, x1, x0
  400cd4:	fd400000 	ldr	d0, [x0]
  400cd8:	fd0017a0 	str	d0, [x29, #40]
  400cdc:	b98037a0 	ldrsw	x0, [x29, #52]
  400ce0:	d37df000 	lsl	x0, x0, #3
  400ce4:	f9400fa1 	ldr	x1, [x29, #24]
  400ce8:	8b000021 	add	x1, x1, x0
  400cec:	b9803ba0 	ldrsw	x0, [x29, #56]
  400cf0:	d37df000 	lsl	x0, x0, #3
  400cf4:	f9400fa2 	ldr	x2, [x29, #24]
  400cf8:	8b000040 	add	x0, x2, x0
  400cfc:	fd400020 	ldr	d0, [x1]
  400d00:	fd000000 	str	d0, [x0]
  400d04:	b98037a0 	ldrsw	x0, [x29, #52]
  400d08:	d37df000 	lsl	x0, x0, #3
  400d0c:	f9400fa1 	ldr	x1, [x29, #24]
  400d10:	8b000020 	add	x0, x1, x0
  400d14:	fd4017a0 	ldr	d0, [x29, #40]
  400d18:	fd000000 	str	d0, [x0]
  400d1c:	b9403fa0 	ldr	w0, [x29, #60]
  400d20:	11000400 	add	w0, w0, #0x1
  400d24:	b9003fa0 	str	w0, [x29, #60]
  400d28:	b94017a0 	ldr	w0, [x29, #20]
  400d2c:	51000400 	sub	w0, w0, #0x1
  400d30:	b9003fa0 	str	w0, [x29, #60]
  400d34:	b9403fa0 	ldr	w0, [x29, #60]
  400d38:	7100001f 	cmp	w0, #0x0
  400d3c:	54fffa41 	b.ne	400c84 <rinv+0x5f8>  // b.any
  400d40:	b9805fa0 	ldrsw	x0, [x29, #92]
  400d44:	d37ef400 	lsl	x0, x0, #2
  400d48:	f94027a1 	ldr	x1, [x29, #72]
  400d4c:	8b000020 	add	x0, x1, x0
  400d50:	b9400000 	ldr	w0, [x0]
  400d54:	b9405fa1 	ldr	w1, [x29, #92]
  400d58:	6b00003f 	cmp	w1, w0
  400d5c:	54000640 	b.eq	400e24 <rinv+0x798>  // b.none
  400d60:	b90027bf 	str	wzr, [x29, #36]
  400d64:	1400002a 	b	400e0c <rinv+0x780>
  400d68:	b94027a1 	ldr	w1, [x29, #36]
  400d6c:	b94017a0 	ldr	w0, [x29, #20]
  400d70:	1b007c20 	mul	w0, w1, w0
  400d74:	b9405fa1 	ldr	w1, [x29, #92]
  400d78:	0b000020 	add	w0, w1, w0
  400d7c:	b9003ba0 	str	w0, [x29, #56]
  400d80:	b94027a1 	ldr	w1, [x29, #36]
  400d84:	b94017a0 	ldr	w0, [x29, #20]
  400d88:	1b007c21 	mul	w1, w1, w0
  400d8c:	b9805fa0 	ldrsw	x0, [x29, #92]
  400d90:	d37ef400 	lsl	x0, x0, #2
  400d94:	f94027a2 	ldr	x2, [x29, #72]
  400d98:	8b000040 	add	x0, x2, x0
  400d9c:	b9400000 	ldr	w0, [x0]
  400da0:	0b000020 	add	w0, w1, w0
  400da4:	b90037a0 	str	w0, [x29, #52]
  400da8:	b9803ba0 	ldrsw	x0, [x29, #56]
  400dac:	d37df000 	lsl	x0, x0, #3
  400db0:	f9400fa1 	ldr	x1, [x29, #24]
  400db4:	8b000020 	add	x0, x1, x0
  400db8:	fd400000 	ldr	d0, [x0]
  400dbc:	fd0017a0 	str	d0, [x29, #40]
  400dc0:	b98037a0 	ldrsw	x0, [x29, #52]
  400dc4:	d37df000 	lsl	x0, x0, #3
  400dc8:	f9400fa1 	ldr	x1, [x29, #24]
  400dcc:	8b000021 	add	x1, x1, x0
  400dd0:	b9803ba0 	ldrsw	x0, [x29, #56]
  400dd4:	d37df000 	lsl	x0, x0, #3
  400dd8:	f9400fa2 	ldr	x2, [x29, #24]
  400ddc:	8b000040 	add	x0, x2, x0
  400de0:	fd400020 	ldr	d0, [x1]
  400de4:	fd000000 	str	d0, [x0]
  400de8:	b98037a0 	ldrsw	x0, [x29, #52]
  400dec:	d37df000 	lsl	x0, x0, #3
  400df0:	f9400fa1 	ldr	x1, [x29, #24]
  400df4:	8b000020 	add	x0, x1, x0
  400df8:	fd4017a0 	ldr	d0, [x29, #40]
  400dfc:	fd000000 	str	d0, [x0]
  400e00:	b94027a0 	ldr	w0, [x29, #36]
  400e04:	11000400 	add	w0, w0, #0x1
  400e08:	b90027a0 	str	w0, [x29, #36]
  400e0c:	b94017a0 	ldr	w0, [x29, #20]
  400e10:	51000400 	sub	w0, w0, #0x1
  400e14:	b90027a0 	str	w0, [x29, #36]
  400e18:	b94027a0 	ldr	w0, [x29, #36]
  400e1c:	7100001f 	cmp	w0, #0x0
  400e20:	54fffa41 	b.ne	400d68 <rinv+0x6dc>  // b.any
  400e24:	b9405fa0 	ldr	w0, [x29, #92]
  400e28:	51000400 	sub	w0, w0, #0x1
  400e2c:	b9005fa0 	str	w0, [x29, #92]
  400e30:	b9405fa0 	ldr	w0, [x29, #92]
  400e34:	7100001f 	cmp	w0, #0x0
  400e38:	54fff12a 	b.ge	400c5c <rinv+0x5d0>  // b.tcont
  400e3c:	f94027a0 	ldr	x0, [x29, #72]
  400e40:	97fffdd0 	bl	400580 <free@plt>
  400e44:	f94023a0 	ldr	x0, [x29, #64]
  400e48:	97fffdce 	bl	400580 <free@plt>
  400e4c:	52800020 	mov	w0, #0x1                   	// #1
  400e50:	a8c67bfd 	ldp	x29, x30, [sp], #96
  400e54:	d65f03c0 	ret

0000000000400e58 <main>:
  400e58:	d503201f 	nop
  400e5c:	d65f03c0 	ret

0000000000400e60 <kalman>:
  400e60:	a9b77bfd 	stp	x29, x30, [sp, #-144]!
  400e64:	910003fd 	mov	x29, sp
  400e68:	b9004fa0 	str	w0, [x29, #76]
  400e6c:	b9004ba1 	str	w1, [x29, #72]
  400e70:	b90047a2 	str	w2, [x29, #68]
  400e74:	f9001fa3 	str	x3, [x29, #56]
  400e78:	f9001ba4 	str	x4, [x29, #48]
  400e7c:	f90017a5 	str	x5, [x29, #40]
  400e80:	f90013a6 	str	x6, [x29, #32]
  400e84:	f9000fa7 	str	x7, [x29, #24]
  400e88:	b9404ba1 	ldr	w1, [x29, #72]
  400e8c:	b9404ba0 	ldr	w0, [x29, #72]
  400e90:	1b007c20 	mul	w0, w1, w0
  400e94:	93407c00 	sxtw	x0, w0
  400e98:	d37df000 	lsl	x0, x0, #3
  400e9c:	97fffda5 	bl	400530 <malloc@plt>
  400ea0:	f9003ba0 	str	x0, [x29, #112]
  400ea4:	b9404ba0 	ldr	w0, [x29, #72]
  400ea8:	b9007fa0 	str	w0, [x29, #124]
  400eac:	b9407fa1 	ldr	w1, [x29, #124]
  400eb0:	b9404fa0 	ldr	w0, [x29, #76]
  400eb4:	6b00003f 	cmp	w1, w0
  400eb8:	5400006a 	b.ge	400ec4 <kalman+0x64>  // b.tcont
  400ebc:	b9404fa0 	ldr	w0, [x29, #76]
  400ec0:	b9007fa0 	str	w0, [x29, #124]
  400ec4:	b9407fa1 	ldr	w1, [x29, #124]
  400ec8:	b9407fa0 	ldr	w0, [x29, #124]
  400ecc:	1b007c20 	mul	w0, w1, w0
  400ed0:	93407c00 	sxtw	x0, w0
  400ed4:	d37df000 	lsl	x0, x0, #3
  400ed8:	97fffd96 	bl	400530 <malloc@plt>
  400edc:	f90037a0 	str	x0, [x29, #104]
  400ee0:	b9407fa1 	ldr	w1, [x29, #124]
  400ee4:	b9407fa0 	ldr	w0, [x29, #124]
  400ee8:	1b007c20 	mul	w0, w1, w0
  400eec:	93407c00 	sxtw	x0, w0
  400ef0:	d37df000 	lsl	x0, x0, #3
  400ef4:	97fffd8f 	bl	400530 <malloc@plt>
  400ef8:	f90033a0 	str	x0, [x29, #96]
  400efc:	b9008fbf 	str	wzr, [x29, #140]
  400f00:	14000043 	b	40100c <kalman+0x1ac>
  400f04:	b9008bbf 	str	wzr, [x29, #136]
  400f08:	14000039 	b	400fec <kalman+0x18c>
  400f0c:	b9408fa1 	ldr	w1, [x29, #140]
  400f10:	b9407fa0 	ldr	w0, [x29, #124]
  400f14:	1b007c20 	mul	w0, w1, w0
  400f18:	b9408ba1 	ldr	w1, [x29, #136]
  400f1c:	0b000020 	add	w0, w1, w0
  400f20:	b90083a0 	str	w0, [x29, #128]
  400f24:	b98083a0 	ldrsw	x0, [x29, #128]
  400f28:	d37df000 	lsl	x0, x0, #3
  400f2c:	f94037a1 	ldr	x1, [x29, #104]
  400f30:	8b000020 	add	x0, x1, x0
  400f34:	f900001f 	str	xzr, [x0]
  400f38:	b90087bf 	str	wzr, [x29, #132]
  400f3c:	14000024 	b	400fcc <kalman+0x16c>
  400f40:	b98083a0 	ldrsw	x0, [x29, #128]
  400f44:	d37df000 	lsl	x0, x0, #3
  400f48:	f94037a1 	ldr	x1, [x29, #104]
  400f4c:	8b000020 	add	x0, x1, x0
  400f50:	fd400001 	ldr	d1, [x0]
  400f54:	b9408fa1 	ldr	w1, [x29, #140]
  400f58:	b9404fa0 	ldr	w0, [x29, #76]
  400f5c:	1b007c21 	mul	w1, w1, w0
  400f60:	b94087a0 	ldr	w0, [x29, #132]
  400f64:	0b000020 	add	w0, w1, w0
  400f68:	93407c00 	sxtw	x0, w0
  400f6c:	d37df000 	lsl	x0, x0, #3
  400f70:	f9404fa1 	ldr	x1, [x29, #152]
  400f74:	8b000020 	add	x0, x1, x0
  400f78:	fd400002 	ldr	d2, [x0]
  400f7c:	b9408ba1 	ldr	w1, [x29, #136]
  400f80:	b9404fa0 	ldr	w0, [x29, #76]
  400f84:	1b007c21 	mul	w1, w1, w0
  400f88:	b94087a0 	ldr	w0, [x29, #132]
  400f8c:	0b000020 	add	w0, w1, w0
  400f90:	93407c00 	sxtw	x0, w0
  400f94:	d37df000 	lsl	x0, x0, #3
  400f98:	f9401fa1 	ldr	x1, [x29, #56]
  400f9c:	8b000020 	add	x0, x1, x0
  400fa0:	fd400000 	ldr	d0, [x0]
  400fa4:	1e600840 	fmul	d0, d2, d0
  400fa8:	b98083a0 	ldrsw	x0, [x29, #128]
  400fac:	d37df000 	lsl	x0, x0, #3
  400fb0:	f94037a1 	ldr	x1, [x29, #104]
  400fb4:	8b000020 	add	x0, x1, x0
  400fb8:	1e602820 	fadd	d0, d1, d0
  400fbc:	fd000000 	str	d0, [x0]
  400fc0:	b94087a0 	ldr	w0, [x29, #132]
  400fc4:	11000400 	add	w0, w0, #0x1
  400fc8:	b90087a0 	str	w0, [x29, #132]
  400fcc:	b9404fa0 	ldr	w0, [x29, #76]
  400fd0:	51000400 	sub	w0, w0, #0x1
  400fd4:	b94087a1 	ldr	w1, [x29, #132]
  400fd8:	6b00003f 	cmp	w1, w0
  400fdc:	54fffb2d 	b.le	400f40 <kalman+0xe0>
  400fe0:	b9408ba0 	ldr	w0, [x29, #136]
  400fe4:	11000400 	add	w0, w0, #0x1
  400fe8:	b9008ba0 	str	w0, [x29, #136]
  400fec:	b9404fa0 	ldr	w0, [x29, #76]
  400ff0:	51000400 	sub	w0, w0, #0x1
  400ff4:	b9408ba1 	ldr	w1, [x29, #136]
  400ff8:	6b00003f 	cmp	w1, w0
  400ffc:	54fff88d 	b.le	400f0c <kalman+0xac>
  401000:	b9408fa0 	ldr	w0, [x29, #140]
  401004:	11000400 	add	w0, w0, #0x1
  401008:	b9008fa0 	str	w0, [x29, #140]
  40100c:	b9404fa0 	ldr	w0, [x29, #76]
  401010:	51000400 	sub	w0, w0, #0x1
  401014:	b9408fa1 	ldr	w1, [x29, #140]
  401018:	6b00003f 	cmp	w1, w0
  40101c:	54fff74d 	b.le	400f04 <kalman+0xa4>
  401020:	b9008fbf 	str	wzr, [x29, #140]
  401024:	14000048 	b	401144 <kalman+0x2e4>
  401028:	b9008bbf 	str	wzr, [x29, #136]
  40102c:	1400003e 	b	401124 <kalman+0x2c4>
  401030:	b9408fa1 	ldr	w1, [x29, #140]
  401034:	b9404fa0 	ldr	w0, [x29, #76]
  401038:	1b007c20 	mul	w0, w1, w0
  40103c:	b9408ba1 	ldr	w1, [x29, #136]
  401040:	0b000020 	add	w0, w1, w0
  401044:	b90083a0 	str	w0, [x29, #128]
  401048:	b98083a0 	ldrsw	x0, [x29, #128]
  40104c:	d37df000 	lsl	x0, x0, #3
  401050:	f9401ba1 	ldr	x1, [x29, #48]
  401054:	8b000021 	add	x1, x1, x0
  401058:	b98083a0 	ldrsw	x0, [x29, #128]
  40105c:	d37df000 	lsl	x0, x0, #3
  401060:	f9404fa2 	ldr	x2, [x29, #152]
  401064:	8b000040 	add	x0, x2, x0
  401068:	fd400020 	ldr	d0, [x1]
  40106c:	fd000000 	str	d0, [x0]
  401070:	b90087bf 	str	wzr, [x29, #132]
  401074:	14000024 	b	401104 <kalman+0x2a4>
  401078:	b98083a0 	ldrsw	x0, [x29, #128]
  40107c:	d37df000 	lsl	x0, x0, #3
  401080:	f9404fa1 	ldr	x1, [x29, #152]
  401084:	8b000020 	add	x0, x1, x0
  401088:	fd400001 	ldr	d1, [x0]
  40108c:	b9408fa1 	ldr	w1, [x29, #140]
  401090:	b9404fa0 	ldr	w0, [x29, #76]
  401094:	1b007c21 	mul	w1, w1, w0
  401098:	b94087a0 	ldr	w0, [x29, #132]
  40109c:	0b000020 	add	w0, w1, w0
  4010a0:	93407c00 	sxtw	x0, w0
  4010a4:	d37df000 	lsl	x0, x0, #3
  4010a8:	f9401fa1 	ldr	x1, [x29, #56]
  4010ac:	8b000020 	add	x0, x1, x0
  4010b0:	fd400002 	ldr	d2, [x0]
  4010b4:	b94087a1 	ldr	w1, [x29, #132]
  4010b8:	b9407fa0 	ldr	w0, [x29, #124]
  4010bc:	1b007c21 	mul	w1, w1, w0
  4010c0:	b9408ba0 	ldr	w0, [x29, #136]
  4010c4:	0b000020 	add	w0, w1, w0
  4010c8:	93407c00 	sxtw	x0, w0
  4010cc:	d37df000 	lsl	x0, x0, #3
  4010d0:	f94037a1 	ldr	x1, [x29, #104]
  4010d4:	8b000020 	add	x0, x1, x0
  4010d8:	fd400000 	ldr	d0, [x0]
  4010dc:	1e600840 	fmul	d0, d2, d0
  4010e0:	b98083a0 	ldrsw	x0, [x29, #128]
  4010e4:	d37df000 	lsl	x0, x0, #3
  4010e8:	f9404fa1 	ldr	x1, [x29, #152]
  4010ec:	8b000020 	add	x0, x1, x0
  4010f0:	1e602820 	fadd	d0, d1, d0
  4010f4:	fd000000 	str	d0, [x0]
  4010f8:	b94087a0 	ldr	w0, [x29, #132]
  4010fc:	11000400 	add	w0, w0, #0x1
  401100:	b90087a0 	str	w0, [x29, #132]
  401104:	b9404fa0 	ldr	w0, [x29, #76]
  401108:	51000400 	sub	w0, w0, #0x1
  40110c:	b94087a1 	ldr	w1, [x29, #132]
  401110:	6b00003f 	cmp	w1, w0
  401114:	54fffb2d 	b.le	401078 <kalman+0x218>
  401118:	b9408ba0 	ldr	w0, [x29, #136]
  40111c:	11000400 	add	w0, w0, #0x1
  401120:	b9008ba0 	str	w0, [x29, #136]
  401124:	b9404fa0 	ldr	w0, [x29, #76]
  401128:	51000400 	sub	w0, w0, #0x1
  40112c:	b9408ba1 	ldr	w1, [x29, #136]
  401130:	6b00003f 	cmp	w1, w0
  401134:	54fff7ed 	b.le	401030 <kalman+0x1d0>
  401138:	b9408fa0 	ldr	w0, [x29, #140]
  40113c:	11000400 	add	w0, w0, #0x1
  401140:	b9008fa0 	str	w0, [x29, #140]
  401144:	b9404fa0 	ldr	w0, [x29, #76]
  401148:	51000400 	sub	w0, w0, #0x1
  40114c:	b9408fa1 	ldr	w1, [x29, #140]
  401150:	6b00003f 	cmp	w1, w0
  401154:	54fff6ad 	b.le	401028 <kalman+0x1c8>
  401158:	52800040 	mov	w0, #0x2                   	// #2
  40115c:	b90083a0 	str	w0, [x29, #128]
  401160:	140002f3 	b	401d2c <kalman+0xecc>
  401164:	b9008fbf 	str	wzr, [x29, #140]
  401168:	14000043 	b	401274 <kalman+0x414>
  40116c:	b9008bbf 	str	wzr, [x29, #136]
  401170:	14000039 	b	401254 <kalman+0x3f4>
  401174:	b9408fa1 	ldr	w1, [x29, #140]
  401178:	b9407fa0 	ldr	w0, [x29, #124]
  40117c:	1b007c20 	mul	w0, w1, w0
  401180:	b9408ba1 	ldr	w1, [x29, #136]
  401184:	0b000020 	add	w0, w1, w0
  401188:	b9005fa0 	str	w0, [x29, #92]
  40118c:	b9805fa0 	ldrsw	x0, [x29, #92]
  401190:	d37df000 	lsl	x0, x0, #3
  401194:	f94037a1 	ldr	x1, [x29, #104]
  401198:	8b000020 	add	x0, x1, x0
  40119c:	f900001f 	str	xzr, [x0]
  4011a0:	b90087bf 	str	wzr, [x29, #132]
  4011a4:	14000024 	b	401234 <kalman+0x3d4>
  4011a8:	b9805fa0 	ldrsw	x0, [x29, #92]
  4011ac:	d37df000 	lsl	x0, x0, #3
  4011b0:	f94037a1 	ldr	x1, [x29, #104]
  4011b4:	8b000020 	add	x0, x1, x0
  4011b8:	fd400001 	ldr	d1, [x0]
  4011bc:	b9408fa1 	ldr	w1, [x29, #140]
  4011c0:	b9404fa0 	ldr	w0, [x29, #76]
  4011c4:	1b007c21 	mul	w1, w1, w0
  4011c8:	b94087a0 	ldr	w0, [x29, #132]
  4011cc:	0b000020 	add	w0, w1, w0
  4011d0:	93407c00 	sxtw	x0, w0
  4011d4:	d37df000 	lsl	x0, x0, #3
  4011d8:	f9404fa1 	ldr	x1, [x29, #152]
  4011dc:	8b000020 	add	x0, x1, x0
  4011e0:	fd400002 	ldr	d2, [x0]
  4011e4:	b9408ba1 	ldr	w1, [x29, #136]
  4011e8:	b9404fa0 	ldr	w0, [x29, #76]
  4011ec:	1b007c21 	mul	w1, w1, w0
  4011f0:	b94087a0 	ldr	w0, [x29, #132]
  4011f4:	0b000020 	add	w0, w1, w0
  4011f8:	93407c00 	sxtw	x0, w0
  4011fc:	d37df000 	lsl	x0, x0, #3
  401200:	f94013a1 	ldr	x1, [x29, #32]
  401204:	8b000020 	add	x0, x1, x0
  401208:	fd400000 	ldr	d0, [x0]
  40120c:	1e600840 	fmul	d0, d2, d0
  401210:	b9805fa0 	ldrsw	x0, [x29, #92]
  401214:	d37df000 	lsl	x0, x0, #3
  401218:	f94037a1 	ldr	x1, [x29, #104]
  40121c:	8b000020 	add	x0, x1, x0
  401220:	1e602820 	fadd	d0, d1, d0
  401224:	fd000000 	str	d0, [x0]
  401228:	b94087a0 	ldr	w0, [x29, #132]
  40122c:	11000400 	add	w0, w0, #0x1
  401230:	b90087a0 	str	w0, [x29, #132]
  401234:	b9404fa0 	ldr	w0, [x29, #76]
  401238:	51000400 	sub	w0, w0, #0x1
  40123c:	b94087a1 	ldr	w1, [x29, #132]
  401240:	6b00003f 	cmp	w1, w0
  401244:	54fffb2d 	b.le	4011a8 <kalman+0x348>
  401248:	b9408ba0 	ldr	w0, [x29, #136]
  40124c:	11000400 	add	w0, w0, #0x1
  401250:	b9008ba0 	str	w0, [x29, #136]
  401254:	b9404ba0 	ldr	w0, [x29, #72]
  401258:	51000400 	sub	w0, w0, #0x1
  40125c:	b9408ba1 	ldr	w1, [x29, #136]
  401260:	6b00003f 	cmp	w1, w0
  401264:	54fff88d 	b.le	401174 <kalman+0x314>
  401268:	b9408fa0 	ldr	w0, [x29, #140]
  40126c:	11000400 	add	w0, w0, #0x1
  401270:	b9008fa0 	str	w0, [x29, #140]
  401274:	b9404fa0 	ldr	w0, [x29, #76]
  401278:	51000400 	sub	w0, w0, #0x1
  40127c:	b9408fa1 	ldr	w1, [x29, #140]
  401280:	6b00003f 	cmp	w1, w0
  401284:	54fff74d 	b.le	40116c <kalman+0x30c>
  401288:	b9008fbf 	str	wzr, [x29, #140]
  40128c:	14000048 	b	4013ac <kalman+0x54c>
  401290:	b9008bbf 	str	wzr, [x29, #136]
  401294:	1400003e 	b	40138c <kalman+0x52c>
  401298:	b9408fa1 	ldr	w1, [x29, #140]
  40129c:	b9404ba0 	ldr	w0, [x29, #72]
  4012a0:	1b007c20 	mul	w0, w1, w0
  4012a4:	b9408ba1 	ldr	w1, [x29, #136]
  4012a8:	0b000020 	add	w0, w1, w0
  4012ac:	b9005fa0 	str	w0, [x29, #92]
  4012b0:	b9805fa0 	ldrsw	x0, [x29, #92]
  4012b4:	d37df000 	lsl	x0, x0, #3
  4012b8:	f94017a1 	ldr	x1, [x29, #40]
  4012bc:	8b000021 	add	x1, x1, x0
  4012c0:	b9805fa0 	ldrsw	x0, [x29, #92]
  4012c4:	d37df000 	lsl	x0, x0, #3
  4012c8:	f9403ba2 	ldr	x2, [x29, #112]
  4012cc:	8b000040 	add	x0, x2, x0
  4012d0:	fd400020 	ldr	d0, [x1]
  4012d4:	fd000000 	str	d0, [x0]
  4012d8:	b90087bf 	str	wzr, [x29, #132]
  4012dc:	14000024 	b	40136c <kalman+0x50c>
  4012e0:	b9805fa0 	ldrsw	x0, [x29, #92]
  4012e4:	d37df000 	lsl	x0, x0, #3
  4012e8:	f9403ba1 	ldr	x1, [x29, #112]
  4012ec:	8b000020 	add	x0, x1, x0
  4012f0:	fd400001 	ldr	d1, [x0]
  4012f4:	b9408fa1 	ldr	w1, [x29, #140]
  4012f8:	b9404fa0 	ldr	w0, [x29, #76]
  4012fc:	1b007c21 	mul	w1, w1, w0
  401300:	b94087a0 	ldr	w0, [x29, #132]
  401304:	0b000020 	add	w0, w1, w0
  401308:	93407c00 	sxtw	x0, w0
  40130c:	d37df000 	lsl	x0, x0, #3
  401310:	f94013a1 	ldr	x1, [x29, #32]
  401314:	8b000020 	add	x0, x1, x0
  401318:	fd400002 	ldr	d2, [x0]
  40131c:	b94087a1 	ldr	w1, [x29, #132]
  401320:	b9407fa0 	ldr	w0, [x29, #124]
  401324:	1b007c21 	mul	w1, w1, w0
  401328:	b9408ba0 	ldr	w0, [x29, #136]
  40132c:	0b000020 	add	w0, w1, w0
  401330:	93407c00 	sxtw	x0, w0
  401334:	d37df000 	lsl	x0, x0, #3
  401338:	f94037a1 	ldr	x1, [x29, #104]
  40133c:	8b000020 	add	x0, x1, x0
  401340:	fd400000 	ldr	d0, [x0]
  401344:	1e600840 	fmul	d0, d2, d0
  401348:	b9805fa0 	ldrsw	x0, [x29, #92]
  40134c:	d37df000 	lsl	x0, x0, #3
  401350:	f9403ba1 	ldr	x1, [x29, #112]
  401354:	8b000020 	add	x0, x1, x0
  401358:	1e602820 	fadd	d0, d1, d0
  40135c:	fd000000 	str	d0, [x0]
  401360:	b94087a0 	ldr	w0, [x29, #132]
  401364:	11000400 	add	w0, w0, #0x1
  401368:	b90087a0 	str	w0, [x29, #132]
  40136c:	b9404fa0 	ldr	w0, [x29, #76]
  401370:	51000400 	sub	w0, w0, #0x1
  401374:	b94087a1 	ldr	w1, [x29, #132]
  401378:	6b00003f 	cmp	w1, w0
  40137c:	54fffb2d 	b.le	4012e0 <kalman+0x480>
  401380:	b9408ba0 	ldr	w0, [x29, #136]
  401384:	11000400 	add	w0, w0, #0x1
  401388:	b9008ba0 	str	w0, [x29, #136]
  40138c:	b9404ba0 	ldr	w0, [x29, #72]
  401390:	51000400 	sub	w0, w0, #0x1
  401394:	b9408ba1 	ldr	w1, [x29, #136]
  401398:	6b00003f 	cmp	w1, w0
  40139c:	54fff7ed 	b.le	401298 <kalman+0x438>
  4013a0:	b9408fa0 	ldr	w0, [x29, #140]
  4013a4:	11000400 	add	w0, w0, #0x1
  4013a8:	b9008fa0 	str	w0, [x29, #140]
  4013ac:	b9404ba0 	ldr	w0, [x29, #72]
  4013b0:	51000400 	sub	w0, w0, #0x1
  4013b4:	b9408fa1 	ldr	w1, [x29, #140]
  4013b8:	6b00003f 	cmp	w1, w0
  4013bc:	54fff6ad 	b.le	401290 <kalman+0x430>
  4013c0:	b9404ba1 	ldr	w1, [x29, #72]
  4013c4:	f9403ba0 	ldr	x0, [x29, #112]
  4013c8:	97fffcb1 	bl	40068c <rinv>
  4013cc:	b9007ba0 	str	w0, [x29, #120]
  4013d0:	b9407ba0 	ldr	w0, [x29, #120]
  4013d4:	7100001f 	cmp	w0, #0x0
  4013d8:	54000121 	b.ne	4013fc <kalman+0x59c>  // b.any
  4013dc:	f9403ba0 	ldr	x0, [x29, #112]
  4013e0:	97fffc68 	bl	400580 <free@plt>
  4013e4:	f94037a0 	ldr	x0, [x29, #104]
  4013e8:	97fffc66 	bl	400580 <free@plt>
  4013ec:	f94033a0 	ldr	x0, [x29, #96]
  4013f0:	97fffc64 	bl	400580 <free@plt>
  4013f4:	b9407ba0 	ldr	w0, [x29, #120]
  4013f8:	14000258 	b	401d58 <kalman+0xef8>
  4013fc:	b9008fbf 	str	wzr, [x29, #140]
  401400:	14000043 	b	40150c <kalman+0x6ac>
  401404:	b9008bbf 	str	wzr, [x29, #136]
  401408:	14000039 	b	4014ec <kalman+0x68c>
  40140c:	b9408fa1 	ldr	w1, [x29, #140]
  401410:	b9404ba0 	ldr	w0, [x29, #72]
  401414:	1b007c20 	mul	w0, w1, w0
  401418:	b9408ba1 	ldr	w1, [x29, #136]
  40141c:	0b000020 	add	w0, w1, w0
  401420:	b9005fa0 	str	w0, [x29, #92]
  401424:	b9805fa0 	ldrsw	x0, [x29, #92]
  401428:	d37df000 	lsl	x0, x0, #3
  40142c:	f94053a1 	ldr	x1, [x29, #160]
  401430:	8b000020 	add	x0, x1, x0
  401434:	f900001f 	str	xzr, [x0]
  401438:	b90087bf 	str	wzr, [x29, #132]
  40143c:	14000024 	b	4014cc <kalman+0x66c>
  401440:	b9805fa0 	ldrsw	x0, [x29, #92]
  401444:	d37df000 	lsl	x0, x0, #3
  401448:	f94053a1 	ldr	x1, [x29, #160]
  40144c:	8b000020 	add	x0, x1, x0
  401450:	fd400001 	ldr	d1, [x0]
  401454:	b9408fa1 	ldr	w1, [x29, #140]
  401458:	b9407fa0 	ldr	w0, [x29, #124]
  40145c:	1b007c21 	mul	w1, w1, w0
  401460:	b94087a0 	ldr	w0, [x29, #132]
  401464:	0b000020 	add	w0, w1, w0
  401468:	93407c00 	sxtw	x0, w0
  40146c:	d37df000 	lsl	x0, x0, #3
  401470:	f94037a1 	ldr	x1, [x29, #104]
  401474:	8b000020 	add	x0, x1, x0
  401478:	fd400002 	ldr	d2, [x0]
  40147c:	b9408ba1 	ldr	w1, [x29, #136]
  401480:	b9404ba0 	ldr	w0, [x29, #72]
  401484:	1b007c21 	mul	w1, w1, w0
  401488:	b94087a0 	ldr	w0, [x29, #132]
  40148c:	0b000020 	add	w0, w1, w0
  401490:	93407c00 	sxtw	x0, w0
  401494:	d37df000 	lsl	x0, x0, #3
  401498:	f9403ba1 	ldr	x1, [x29, #112]
  40149c:	8b000020 	add	x0, x1, x0
  4014a0:	fd400000 	ldr	d0, [x0]
  4014a4:	1e600840 	fmul	d0, d2, d0
  4014a8:	b9805fa0 	ldrsw	x0, [x29, #92]
  4014ac:	d37df000 	lsl	x0, x0, #3
  4014b0:	f94053a1 	ldr	x1, [x29, #160]
  4014b4:	8b000020 	add	x0, x1, x0
  4014b8:	1e602820 	fadd	d0, d1, d0
  4014bc:	fd000000 	str	d0, [x0]
  4014c0:	b94087a0 	ldr	w0, [x29, #132]
  4014c4:	11000400 	add	w0, w0, #0x1
  4014c8:	b90087a0 	str	w0, [x29, #132]
  4014cc:	b9404ba0 	ldr	w0, [x29, #72]
  4014d0:	51000400 	sub	w0, w0, #0x1
  4014d4:	b94087a1 	ldr	w1, [x29, #132]
  4014d8:	6b00003f 	cmp	w1, w0
  4014dc:	54fffb2d 	b.le	401440 <kalman+0x5e0>
  4014e0:	b9408ba0 	ldr	w0, [x29, #136]
  4014e4:	11000400 	add	w0, w0, #0x1
  4014e8:	b9008ba0 	str	w0, [x29, #136]
  4014ec:	b9404ba0 	ldr	w0, [x29, #72]
  4014f0:	51000400 	sub	w0, w0, #0x1
  4014f4:	b9408ba1 	ldr	w1, [x29, #136]
  4014f8:	6b00003f 	cmp	w1, w0
  4014fc:	54fff88d 	b.le	40140c <kalman+0x5ac>
  401500:	b9408fa0 	ldr	w0, [x29, #140]
  401504:	11000400 	add	w0, w0, #0x1
  401508:	b9008fa0 	str	w0, [x29, #140]
  40150c:	b9404fa0 	ldr	w0, [x29, #76]
  401510:	51000400 	sub	w0, w0, #0x1
  401514:	b9408fa1 	ldr	w1, [x29, #140]
  401518:	6b00003f 	cmp	w1, w0
  40151c:	54fff74d 	b.le	401404 <kalman+0x5a4>
  401520:	b9008fbf 	str	wzr, [x29, #140]
  401524:	1400003b 	b	401610 <kalman+0x7b0>
  401528:	b94083a0 	ldr	w0, [x29, #128]
  40152c:	51000401 	sub	w1, w0, #0x1
  401530:	b9404fa0 	ldr	w0, [x29, #76]
  401534:	1b007c20 	mul	w0, w1, w0
  401538:	b9408fa1 	ldr	w1, [x29, #140]
  40153c:	0b000020 	add	w0, w1, w0
  401540:	b9005fa0 	str	w0, [x29, #92]
  401544:	b9805fa0 	ldrsw	x0, [x29, #92]
  401548:	d37df000 	lsl	x0, x0, #3
  40154c:	f9404ba1 	ldr	x1, [x29, #144]
  401550:	8b000020 	add	x0, x1, x0
  401554:	f900001f 	str	xzr, [x0]
  401558:	b9008bbf 	str	wzr, [x29, #136]
  40155c:	14000025 	b	4015f0 <kalman+0x790>
  401560:	b9805fa0 	ldrsw	x0, [x29, #92]
  401564:	d37df000 	lsl	x0, x0, #3
  401568:	f9404ba1 	ldr	x1, [x29, #144]
  40156c:	8b000020 	add	x0, x1, x0
  401570:	fd400001 	ldr	d1, [x0]
  401574:	b9408fa1 	ldr	w1, [x29, #140]
  401578:	b9404fa0 	ldr	w0, [x29, #76]
  40157c:	1b007c21 	mul	w1, w1, w0
  401580:	b9408ba0 	ldr	w0, [x29, #136]
  401584:	0b000020 	add	w0, w1, w0
  401588:	93407c00 	sxtw	x0, w0
  40158c:	d37df000 	lsl	x0, x0, #3
  401590:	f9401fa1 	ldr	x1, [x29, #56]
  401594:	8b000020 	add	x0, x1, x0
  401598:	fd400002 	ldr	d2, [x0]
  40159c:	b94083a0 	ldr	w0, [x29, #128]
  4015a0:	51000801 	sub	w1, w0, #0x2
  4015a4:	b9404fa0 	ldr	w0, [x29, #76]
  4015a8:	1b007c21 	mul	w1, w1, w0
  4015ac:	b9408ba0 	ldr	w0, [x29, #136]
  4015b0:	0b000020 	add	w0, w1, w0
  4015b4:	93407c00 	sxtw	x0, w0
  4015b8:	d37df000 	lsl	x0, x0, #3
  4015bc:	f9404ba1 	ldr	x1, [x29, #144]
  4015c0:	8b000020 	add	x0, x1, x0
  4015c4:	fd400000 	ldr	d0, [x0]
  4015c8:	1e600840 	fmul	d0, d2, d0
  4015cc:	b9805fa0 	ldrsw	x0, [x29, #92]
  4015d0:	d37df000 	lsl	x0, x0, #3
  4015d4:	f9404ba1 	ldr	x1, [x29, #144]
  4015d8:	8b000020 	add	x0, x1, x0
  4015dc:	1e602820 	fadd	d0, d1, d0
  4015e0:	fd000000 	str	d0, [x0]
  4015e4:	b9408ba0 	ldr	w0, [x29, #136]
  4015e8:	11000400 	add	w0, w0, #0x1
  4015ec:	b9008ba0 	str	w0, [x29, #136]
  4015f0:	b9404fa0 	ldr	w0, [x29, #76]
  4015f4:	51000400 	sub	w0, w0, #0x1
  4015f8:	b9408ba1 	ldr	w1, [x29, #136]
  4015fc:	6b00003f 	cmp	w1, w0
  401600:	54fffb0d 	b.le	401560 <kalman+0x700>
  401604:	b9408fa0 	ldr	w0, [x29, #140]
  401608:	11000400 	add	w0, w0, #0x1
  40160c:	b9008fa0 	str	w0, [x29, #140]
  401610:	b9404fa0 	ldr	w0, [x29, #76]
  401614:	51000400 	sub	w0, w0, #0x1
  401618:	b9408fa1 	ldr	w1, [x29, #140]
  40161c:	6b00003f 	cmp	w1, w0
  401620:	54fff84d 	b.le	401528 <kalman+0x6c8>
  401624:	b9008fbf 	str	wzr, [x29, #140]
  401628:	14000043 	b	401734 <kalman+0x8d4>
  40162c:	b9408fa1 	ldr	w1, [x29, #140]
  401630:	b9407fa0 	ldr	w0, [x29, #124]
  401634:	1b007c20 	mul	w0, w1, w0
  401638:	b9005fa0 	str	w0, [x29, #92]
  40163c:	b94083a0 	ldr	w0, [x29, #128]
  401640:	51000401 	sub	w1, w0, #0x1
  401644:	b9404ba0 	ldr	w0, [x29, #72]
  401648:	1b007c21 	mul	w1, w1, w0
  40164c:	b9408fa0 	ldr	w0, [x29, #140]
  401650:	0b000020 	add	w0, w1, w0
  401654:	93407c00 	sxtw	x0, w0
  401658:	d37df000 	lsl	x0, x0, #3
  40165c:	f9400fa1 	ldr	x1, [x29, #24]
  401660:	8b000021 	add	x1, x1, x0
  401664:	b9805fa0 	ldrsw	x0, [x29, #92]
  401668:	d37df000 	lsl	x0, x0, #3
  40166c:	f94033a2 	ldr	x2, [x29, #96]
  401670:	8b000040 	add	x0, x2, x0
  401674:	fd400020 	ldr	d0, [x1]
  401678:	fd000000 	str	d0, [x0]
  40167c:	b9008bbf 	str	wzr, [x29, #136]
  401680:	14000025 	b	401714 <kalman+0x8b4>
  401684:	b9805fa0 	ldrsw	x0, [x29, #92]
  401688:	d37df000 	lsl	x0, x0, #3
  40168c:	f94033a1 	ldr	x1, [x29, #96]
  401690:	8b000020 	add	x0, x1, x0
  401694:	fd400001 	ldr	d1, [x0]
  401698:	b9408fa1 	ldr	w1, [x29, #140]
  40169c:	b9404fa0 	ldr	w0, [x29, #76]
  4016a0:	1b007c21 	mul	w1, w1, w0
  4016a4:	b9408ba0 	ldr	w0, [x29, #136]
  4016a8:	0b000020 	add	w0, w1, w0
  4016ac:	93407c00 	sxtw	x0, w0
  4016b0:	d37df000 	lsl	x0, x0, #3
  4016b4:	f94013a1 	ldr	x1, [x29, #32]
  4016b8:	8b000020 	add	x0, x1, x0
  4016bc:	fd400002 	ldr	d2, [x0]
  4016c0:	b94083a0 	ldr	w0, [x29, #128]
  4016c4:	51000401 	sub	w1, w0, #0x1
  4016c8:	b9404fa0 	ldr	w0, [x29, #76]
  4016cc:	1b007c21 	mul	w1, w1, w0
  4016d0:	b9408ba0 	ldr	w0, [x29, #136]
  4016d4:	0b000020 	add	w0, w1, w0
  4016d8:	93407c00 	sxtw	x0, w0
  4016dc:	d37df000 	lsl	x0, x0, #3
  4016e0:	f9404ba1 	ldr	x1, [x29, #144]
  4016e4:	8b000020 	add	x0, x1, x0
  4016e8:	fd400000 	ldr	d0, [x0]
  4016ec:	1e600840 	fmul	d0, d2, d0
  4016f0:	b9805fa0 	ldrsw	x0, [x29, #92]
  4016f4:	d37df000 	lsl	x0, x0, #3
  4016f8:	f94033a1 	ldr	x1, [x29, #96]
  4016fc:	8b000020 	add	x0, x1, x0
  401700:	1e603820 	fsub	d0, d1, d0
  401704:	fd000000 	str	d0, [x0]
  401708:	b9408ba0 	ldr	w0, [x29, #136]
  40170c:	11000400 	add	w0, w0, #0x1
  401710:	b9008ba0 	str	w0, [x29, #136]
  401714:	b9404fa0 	ldr	w0, [x29, #76]
  401718:	51000400 	sub	w0, w0, #0x1
  40171c:	b9408ba1 	ldr	w1, [x29, #136]
  401720:	6b00003f 	cmp	w1, w0
  401724:	54fffb0d 	b.le	401684 <kalman+0x824>
  401728:	b9408fa0 	ldr	w0, [x29, #140]
  40172c:	11000400 	add	w0, w0, #0x1
  401730:	b9008fa0 	str	w0, [x29, #140]
  401734:	b9404ba0 	ldr	w0, [x29, #72]
  401738:	51000400 	sub	w0, w0, #0x1
  40173c:	b9408fa1 	ldr	w1, [x29, #140]
  401740:	6b00003f 	cmp	w1, w0
  401744:	54fff74d 	b.le	40162c <kalman+0x7cc>
  401748:	b9008fbf 	str	wzr, [x29, #140]
  40174c:	14000033 	b	401818 <kalman+0x9b8>
  401750:	b94083a0 	ldr	w0, [x29, #128]
  401754:	51000401 	sub	w1, w0, #0x1
  401758:	b9404fa0 	ldr	w0, [x29, #76]
  40175c:	1b007c20 	mul	w0, w1, w0
  401760:	b9408fa1 	ldr	w1, [x29, #140]
  401764:	0b000020 	add	w0, w1, w0
  401768:	b9005fa0 	str	w0, [x29, #92]
  40176c:	b9008bbf 	str	wzr, [x29, #136]
  401770:	14000022 	b	4017f8 <kalman+0x998>
  401774:	b9805fa0 	ldrsw	x0, [x29, #92]
  401778:	d37df000 	lsl	x0, x0, #3
  40177c:	f9404ba1 	ldr	x1, [x29, #144]
  401780:	8b000020 	add	x0, x1, x0
  401784:	fd400001 	ldr	d1, [x0]
  401788:	b9408fa1 	ldr	w1, [x29, #140]
  40178c:	b9404ba0 	ldr	w0, [x29, #72]
  401790:	1b007c21 	mul	w1, w1, w0
  401794:	b9408ba0 	ldr	w0, [x29, #136]
  401798:	0b000020 	add	w0, w1, w0
  40179c:	93407c00 	sxtw	x0, w0
  4017a0:	d37df000 	lsl	x0, x0, #3
  4017a4:	f94053a1 	ldr	x1, [x29, #160]
  4017a8:	8b000020 	add	x0, x1, x0
  4017ac:	fd400002 	ldr	d2, [x0]
  4017b0:	b9408ba1 	ldr	w1, [x29, #136]
  4017b4:	b9407fa0 	ldr	w0, [x29, #124]
  4017b8:	1b007c20 	mul	w0, w1, w0
  4017bc:	93407c00 	sxtw	x0, w0
  4017c0:	d37df000 	lsl	x0, x0, #3
  4017c4:	f94033a1 	ldr	x1, [x29, #96]
  4017c8:	8b000020 	add	x0, x1, x0
  4017cc:	fd400000 	ldr	d0, [x0]
  4017d0:	1e600840 	fmul	d0, d2, d0
  4017d4:	b9805fa0 	ldrsw	x0, [x29, #92]
  4017d8:	d37df000 	lsl	x0, x0, #3
  4017dc:	f9404ba1 	ldr	x1, [x29, #144]
  4017e0:	8b000020 	add	x0, x1, x0
  4017e4:	1e602820 	fadd	d0, d1, d0
  4017e8:	fd000000 	str	d0, [x0]
  4017ec:	b9408ba0 	ldr	w0, [x29, #136]
  4017f0:	11000400 	add	w0, w0, #0x1
  4017f4:	b9008ba0 	str	w0, [x29, #136]
  4017f8:	b9404ba0 	ldr	w0, [x29, #72]
  4017fc:	51000400 	sub	w0, w0, #0x1
  401800:	b9408ba1 	ldr	w1, [x29, #136]
  401804:	6b00003f 	cmp	w1, w0
  401808:	54fffb6d 	b.le	401774 <kalman+0x914>
  40180c:	b9408fa0 	ldr	w0, [x29, #140]
  401810:	11000400 	add	w0, w0, #0x1
  401814:	b9008fa0 	str	w0, [x29, #140]
  401818:	b9404fa0 	ldr	w0, [x29, #76]
  40181c:	51000400 	sub	w0, w0, #0x1
  401820:	b9408fa1 	ldr	w1, [x29, #140]
  401824:	6b00003f 	cmp	w1, w0
  401828:	54fff94d 	b.le	401750 <kalman+0x8f0>
  40182c:	b94083a1 	ldr	w1, [x29, #128]
  401830:	b94047a0 	ldr	w0, [x29, #68]
  401834:	6b00003f 	cmp	w1, w0
  401838:	5400274a 	b.ge	401d20 <kalman+0xec0>  // b.tcont
  40183c:	b9008fbf 	str	wzr, [x29, #140]
  401840:	14000053 	b	40198c <kalman+0xb2c>
  401844:	b9008bbf 	str	wzr, [x29, #136]
  401848:	14000049 	b	40196c <kalman+0xb0c>
  40184c:	b9408fa1 	ldr	w1, [x29, #140]
  401850:	b9407fa0 	ldr	w0, [x29, #124]
  401854:	1b007c20 	mul	w0, w1, w0
  401858:	b9408ba1 	ldr	w1, [x29, #136]
  40185c:	0b000020 	add	w0, w1, w0
  401860:	b9005fa0 	str	w0, [x29, #92]
  401864:	b9805fa0 	ldrsw	x0, [x29, #92]
  401868:	d37df000 	lsl	x0, x0, #3
  40186c:	f94037a1 	ldr	x1, [x29, #104]
  401870:	8b000020 	add	x0, x1, x0
  401874:	f900001f 	str	xzr, [x0]
  401878:	b90087bf 	str	wzr, [x29, #132]
  40187c:	14000024 	b	40190c <kalman+0xaac>
  401880:	b9805fa0 	ldrsw	x0, [x29, #92]
  401884:	d37df000 	lsl	x0, x0, #3
  401888:	f94037a1 	ldr	x1, [x29, #104]
  40188c:	8b000020 	add	x0, x1, x0
  401890:	fd400001 	ldr	d1, [x0]
  401894:	b9408fa1 	ldr	w1, [x29, #140]
  401898:	b9404ba0 	ldr	w0, [x29, #72]
  40189c:	1b007c21 	mul	w1, w1, w0
  4018a0:	b94087a0 	ldr	w0, [x29, #132]
  4018a4:	0b000020 	add	w0, w1, w0
  4018a8:	93407c00 	sxtw	x0, w0
  4018ac:	d37df000 	lsl	x0, x0, #3
  4018b0:	f94053a1 	ldr	x1, [x29, #160]
  4018b4:	8b000020 	add	x0, x1, x0
  4018b8:	fd400002 	ldr	d2, [x0]
  4018bc:	b94087a1 	ldr	w1, [x29, #132]
  4018c0:	b9404fa0 	ldr	w0, [x29, #76]
  4018c4:	1b007c21 	mul	w1, w1, w0
  4018c8:	b9408ba0 	ldr	w0, [x29, #136]
  4018cc:	0b000020 	add	w0, w1, w0
  4018d0:	93407c00 	sxtw	x0, w0
  4018d4:	d37df000 	lsl	x0, x0, #3
  4018d8:	f94013a1 	ldr	x1, [x29, #32]
  4018dc:	8b000020 	add	x0, x1, x0
  4018e0:	fd400000 	ldr	d0, [x0]
  4018e4:	1e600840 	fmul	d0, d2, d0
  4018e8:	b9805fa0 	ldrsw	x0, [x29, #92]
  4018ec:	d37df000 	lsl	x0, x0, #3
  4018f0:	f94037a1 	ldr	x1, [x29, #104]
  4018f4:	8b000020 	add	x0, x1, x0
  4018f8:	1e603820 	fsub	d0, d1, d0
  4018fc:	fd000000 	str	d0, [x0]
  401900:	b94087a0 	ldr	w0, [x29, #132]
  401904:	11000400 	add	w0, w0, #0x1
  401908:	b90087a0 	str	w0, [x29, #132]
  40190c:	b9404ba0 	ldr	w0, [x29, #72]
  401910:	51000400 	sub	w0, w0, #0x1
  401914:	b94087a1 	ldr	w1, [x29, #132]
  401918:	6b00003f 	cmp	w1, w0
  40191c:	54fffb2d 	b.le	401880 <kalman+0xa20>
  401920:	b9408fa1 	ldr	w1, [x29, #140]
  401924:	b9408ba0 	ldr	w0, [x29, #136]
  401928:	6b00003f 	cmp	w1, w0
  40192c:	540001a1 	b.ne	401960 <kalman+0xb00>  // b.any
  401930:	b9805fa0 	ldrsw	x0, [x29, #92]
  401934:	d37df000 	lsl	x0, x0, #3
  401938:	f94037a1 	ldr	x1, [x29, #104]
  40193c:	8b000020 	add	x0, x1, x0
  401940:	fd400001 	ldr	d1, [x0]
  401944:	b9805fa0 	ldrsw	x0, [x29, #92]
  401948:	d37df000 	lsl	x0, x0, #3
  40194c:	f94037a1 	ldr	x1, [x29, #104]
  401950:	8b000020 	add	x0, x1, x0
  401954:	1e6e1000 	fmov	d0, #1.000000000000000000e+00
  401958:	1e602820 	fadd	d0, d1, d0
  40195c:	fd000000 	str	d0, [x0]
  401960:	b9408ba0 	ldr	w0, [x29, #136]
  401964:	11000400 	add	w0, w0, #0x1
  401968:	b9008ba0 	str	w0, [x29, #136]
  40196c:	b9404fa0 	ldr	w0, [x29, #76]
  401970:	51000400 	sub	w0, w0, #0x1
  401974:	b9408ba1 	ldr	w1, [x29, #136]
  401978:	6b00003f 	cmp	w1, w0
  40197c:	54fff68d 	b.le	40184c <kalman+0x9ec>
  401980:	b9408fa0 	ldr	w0, [x29, #140]
  401984:	11000400 	add	w0, w0, #0x1
  401988:	b9008fa0 	str	w0, [x29, #140]
  40198c:	b9404fa0 	ldr	w0, [x29, #76]
  401990:	51000400 	sub	w0, w0, #0x1
  401994:	b9408fa1 	ldr	w1, [x29, #140]
  401998:	6b00003f 	cmp	w1, w0
  40199c:	54fff54d 	b.le	401844 <kalman+0x9e4>
  4019a0:	b9008fbf 	str	wzr, [x29, #140]
  4019a4:	14000043 	b	401ab0 <kalman+0xc50>
  4019a8:	b9008bbf 	str	wzr, [x29, #136]
  4019ac:	14000039 	b	401a90 <kalman+0xc30>
  4019b0:	b9408fa1 	ldr	w1, [x29, #140]
  4019b4:	b9407fa0 	ldr	w0, [x29, #124]
  4019b8:	1b007c20 	mul	w0, w1, w0
  4019bc:	b9408ba1 	ldr	w1, [x29, #136]
  4019c0:	0b000020 	add	w0, w1, w0
  4019c4:	b9005fa0 	str	w0, [x29, #92]
  4019c8:	b9805fa0 	ldrsw	x0, [x29, #92]
  4019cc:	d37df000 	lsl	x0, x0, #3
  4019d0:	f94033a1 	ldr	x1, [x29, #96]
  4019d4:	8b000020 	add	x0, x1, x0
  4019d8:	f900001f 	str	xzr, [x0]
  4019dc:	b90087bf 	str	wzr, [x29, #132]
  4019e0:	14000024 	b	401a70 <kalman+0xc10>
  4019e4:	b9805fa0 	ldrsw	x0, [x29, #92]
  4019e8:	d37df000 	lsl	x0, x0, #3
  4019ec:	f94033a1 	ldr	x1, [x29, #96]
  4019f0:	8b000020 	add	x0, x1, x0
  4019f4:	fd400001 	ldr	d1, [x0]
  4019f8:	b9408fa1 	ldr	w1, [x29, #140]
  4019fc:	b9407fa0 	ldr	w0, [x29, #124]
  401a00:	1b007c21 	mul	w1, w1, w0
  401a04:	b94087a0 	ldr	w0, [x29, #132]
  401a08:	0b000020 	add	w0, w1, w0
  401a0c:	93407c00 	sxtw	x0, w0
  401a10:	d37df000 	lsl	x0, x0, #3
  401a14:	f94037a1 	ldr	x1, [x29, #104]
  401a18:	8b000020 	add	x0, x1, x0
  401a1c:	fd400002 	ldr	d2, [x0]
  401a20:	b94087a1 	ldr	w1, [x29, #132]
  401a24:	b9404fa0 	ldr	w0, [x29, #76]
  401a28:	1b007c21 	mul	w1, w1, w0
  401a2c:	b9408ba0 	ldr	w0, [x29, #136]
  401a30:	0b000020 	add	w0, w1, w0
  401a34:	93407c00 	sxtw	x0, w0
  401a38:	d37df000 	lsl	x0, x0, #3
  401a3c:	f9404fa1 	ldr	x1, [x29, #152]
  401a40:	8b000020 	add	x0, x1, x0
  401a44:	fd400000 	ldr	d0, [x0]
  401a48:	1e600840 	fmul	d0, d2, d0
  401a4c:	b9805fa0 	ldrsw	x0, [x29, #92]
  401a50:	d37df000 	lsl	x0, x0, #3
  401a54:	f94033a1 	ldr	x1, [x29, #96]
  401a58:	8b000020 	add	x0, x1, x0
  401a5c:	1e602820 	fadd	d0, d1, d0
  401a60:	fd000000 	str	d0, [x0]
  401a64:	b94087a0 	ldr	w0, [x29, #132]
  401a68:	11000400 	add	w0, w0, #0x1
  401a6c:	b90087a0 	str	w0, [x29, #132]
  401a70:	b9404fa0 	ldr	w0, [x29, #76]
  401a74:	51000400 	sub	w0, w0, #0x1
  401a78:	b94087a1 	ldr	w1, [x29, #132]
  401a7c:	6b00003f 	cmp	w1, w0
  401a80:	54fffb2d 	b.le	4019e4 <kalman+0xb84>
  401a84:	b9408ba0 	ldr	w0, [x29, #136]
  401a88:	11000400 	add	w0, w0, #0x1
  401a8c:	b9008ba0 	str	w0, [x29, #136]
  401a90:	b9404fa0 	ldr	w0, [x29, #76]
  401a94:	51000400 	sub	w0, w0, #0x1
  401a98:	b9408ba1 	ldr	w1, [x29, #136]
  401a9c:	6b00003f 	cmp	w1, w0
  401aa0:	54fff88d 	b.le	4019b0 <kalman+0xb50>
  401aa4:	b9408fa0 	ldr	w0, [x29, #140]
  401aa8:	11000400 	add	w0, w0, #0x1
  401aac:	b9008fa0 	str	w0, [x29, #140]
  401ab0:	b9404fa0 	ldr	w0, [x29, #76]
  401ab4:	51000400 	sub	w0, w0, #0x1
  401ab8:	b9408fa1 	ldr	w1, [x29, #140]
  401abc:	6b00003f 	cmp	w1, w0
  401ac0:	54fff74d 	b.le	4019a8 <kalman+0xb48>
  401ac4:	b9008fbf 	str	wzr, [x29, #140]
  401ac8:	14000043 	b	401bd4 <kalman+0xd74>
  401acc:	b9008bbf 	str	wzr, [x29, #136]
  401ad0:	14000039 	b	401bb4 <kalman+0xd54>
  401ad4:	b9408fa1 	ldr	w1, [x29, #140]
  401ad8:	b9407fa0 	ldr	w0, [x29, #124]
  401adc:	1b007c20 	mul	w0, w1, w0
  401ae0:	b9408ba1 	ldr	w1, [x29, #136]
  401ae4:	0b000020 	add	w0, w1, w0
  401ae8:	b9005fa0 	str	w0, [x29, #92]
  401aec:	b9805fa0 	ldrsw	x0, [x29, #92]
  401af0:	d37df000 	lsl	x0, x0, #3
  401af4:	f94037a1 	ldr	x1, [x29, #104]
  401af8:	8b000020 	add	x0, x1, x0
  401afc:	f900001f 	str	xzr, [x0]
  401b00:	b90087bf 	str	wzr, [x29, #132]
  401b04:	14000024 	b	401b94 <kalman+0xd34>
  401b08:	b9805fa0 	ldrsw	x0, [x29, #92]
  401b0c:	d37df000 	lsl	x0, x0, #3
  401b10:	f94037a1 	ldr	x1, [x29, #104]
  401b14:	8b000020 	add	x0, x1, x0
  401b18:	fd400001 	ldr	d1, [x0]
  401b1c:	b9408fa1 	ldr	w1, [x29, #140]
  401b20:	b9407fa0 	ldr	w0, [x29, #124]
  401b24:	1b007c21 	mul	w1, w1, w0
  401b28:	b94087a0 	ldr	w0, [x29, #132]
  401b2c:	0b000020 	add	w0, w1, w0
  401b30:	93407c00 	sxtw	x0, w0
  401b34:	d37df000 	lsl	x0, x0, #3
  401b38:	f94033a1 	ldr	x1, [x29, #96]
  401b3c:	8b000020 	add	x0, x1, x0
  401b40:	fd400002 	ldr	d2, [x0]
  401b44:	b9408ba1 	ldr	w1, [x29, #136]
  401b48:	b9404fa0 	ldr	w0, [x29, #76]
  401b4c:	1b007c21 	mul	w1, w1, w0
  401b50:	b94087a0 	ldr	w0, [x29, #132]
  401b54:	0b000020 	add	w0, w1, w0
  401b58:	93407c00 	sxtw	x0, w0
  401b5c:	d37df000 	lsl	x0, x0, #3
  401b60:	f9401fa1 	ldr	x1, [x29, #56]
  401b64:	8b000020 	add	x0, x1, x0
  401b68:	fd400000 	ldr	d0, [x0]
  401b6c:	1e600840 	fmul	d0, d2, d0
  401b70:	b9805fa0 	ldrsw	x0, [x29, #92]
  401b74:	d37df000 	lsl	x0, x0, #3
  401b78:	f94037a1 	ldr	x1, [x29, #104]
  401b7c:	8b000020 	add	x0, x1, x0
  401b80:	1e602820 	fadd	d0, d1, d0
  401b84:	fd000000 	str	d0, [x0]
  401b88:	b94087a0 	ldr	w0, [x29, #132]
  401b8c:	11000400 	add	w0, w0, #0x1
  401b90:	b90087a0 	str	w0, [x29, #132]
  401b94:	b9404fa0 	ldr	w0, [x29, #76]
  401b98:	51000400 	sub	w0, w0, #0x1
  401b9c:	b94087a1 	ldr	w1, [x29, #132]
  401ba0:	6b00003f 	cmp	w1, w0
  401ba4:	54fffb2d 	b.le	401b08 <kalman+0xca8>
  401ba8:	b9408ba0 	ldr	w0, [x29, #136]
  401bac:	11000400 	add	w0, w0, #0x1
  401bb0:	b9008ba0 	str	w0, [x29, #136]
  401bb4:	b9404fa0 	ldr	w0, [x29, #76]
  401bb8:	51000400 	sub	w0, w0, #0x1
  401bbc:	b9408ba1 	ldr	w1, [x29, #136]
  401bc0:	6b00003f 	cmp	w1, w0
  401bc4:	54fff88d 	b.le	401ad4 <kalman+0xc74>
  401bc8:	b9408fa0 	ldr	w0, [x29, #140]
  401bcc:	11000400 	add	w0, w0, #0x1
  401bd0:	b9008fa0 	str	w0, [x29, #140]
  401bd4:	b9404fa0 	ldr	w0, [x29, #76]
  401bd8:	51000400 	sub	w0, w0, #0x1
  401bdc:	b9408fa1 	ldr	w1, [x29, #140]
  401be0:	6b00003f 	cmp	w1, w0
  401be4:	54fff74d 	b.le	401acc <kalman+0xc6c>
  401be8:	b9008fbf 	str	wzr, [x29, #140]
  401bec:	14000048 	b	401d0c <kalman+0xeac>
  401bf0:	b9008bbf 	str	wzr, [x29, #136]
  401bf4:	1400003e 	b	401cec <kalman+0xe8c>
  401bf8:	b9408fa1 	ldr	w1, [x29, #140]
  401bfc:	b9404fa0 	ldr	w0, [x29, #76]
  401c00:	1b007c20 	mul	w0, w1, w0
  401c04:	b9408ba1 	ldr	w1, [x29, #136]
  401c08:	0b000020 	add	w0, w1, w0
  401c0c:	b9005fa0 	str	w0, [x29, #92]
  401c10:	b9805fa0 	ldrsw	x0, [x29, #92]
  401c14:	d37df000 	lsl	x0, x0, #3
  401c18:	f9401ba1 	ldr	x1, [x29, #48]
  401c1c:	8b000021 	add	x1, x1, x0
  401c20:	b9805fa0 	ldrsw	x0, [x29, #92]
  401c24:	d37df000 	lsl	x0, x0, #3
  401c28:	f9404fa2 	ldr	x2, [x29, #152]
  401c2c:	8b000040 	add	x0, x2, x0
  401c30:	fd400020 	ldr	d0, [x1]
  401c34:	fd000000 	str	d0, [x0]
  401c38:	b90087bf 	str	wzr, [x29, #132]
  401c3c:	14000024 	b	401ccc <kalman+0xe6c>
  401c40:	b9805fa0 	ldrsw	x0, [x29, #92]
  401c44:	d37df000 	lsl	x0, x0, #3
  401c48:	f9404fa1 	ldr	x1, [x29, #152]
  401c4c:	8b000020 	add	x0, x1, x0
  401c50:	fd400001 	ldr	d1, [x0]
  401c54:	b9408fa1 	ldr	w1, [x29, #140]
  401c58:	b9404fa0 	ldr	w0, [x29, #76]
  401c5c:	1b007c21 	mul	w1, w1, w0
  401c60:	b94087a0 	ldr	w0, [x29, #132]
  401c64:	0b000020 	add	w0, w1, w0
  401c68:	93407c00 	sxtw	x0, w0
  401c6c:	d37df000 	lsl	x0, x0, #3
  401c70:	f9401fa1 	ldr	x1, [x29, #56]
  401c74:	8b000020 	add	x0, x1, x0
  401c78:	fd400002 	ldr	d2, [x0]
  401c7c:	b9408ba1 	ldr	w1, [x29, #136]
  401c80:	b9407fa0 	ldr	w0, [x29, #124]
  401c84:	1b007c21 	mul	w1, w1, w0
  401c88:	b94087a0 	ldr	w0, [x29, #132]
  401c8c:	0b000020 	add	w0, w1, w0
  401c90:	93407c00 	sxtw	x0, w0
  401c94:	d37df000 	lsl	x0, x0, #3
  401c98:	f94037a1 	ldr	x1, [x29, #104]
  401c9c:	8b000020 	add	x0, x1, x0
  401ca0:	fd400000 	ldr	d0, [x0]
  401ca4:	1e600840 	fmul	d0, d2, d0
  401ca8:	b9805fa0 	ldrsw	x0, [x29, #92]
  401cac:	d37df000 	lsl	x0, x0, #3
  401cb0:	f9404fa1 	ldr	x1, [x29, #152]
  401cb4:	8b000020 	add	x0, x1, x0
  401cb8:	1e602820 	fadd	d0, d1, d0
  401cbc:	fd000000 	str	d0, [x0]
  401cc0:	b94087a0 	ldr	w0, [x29, #132]
  401cc4:	11000400 	add	w0, w0, #0x1
  401cc8:	b90087a0 	str	w0, [x29, #132]
  401ccc:	b9404fa0 	ldr	w0, [x29, #76]
  401cd0:	51000400 	sub	w0, w0, #0x1
  401cd4:	b94087a1 	ldr	w1, [x29, #132]
  401cd8:	6b00003f 	cmp	w1, w0
  401cdc:	54fffb2d 	b.le	401c40 <kalman+0xde0>
  401ce0:	b9408ba0 	ldr	w0, [x29, #136]
  401ce4:	11000400 	add	w0, w0, #0x1
  401ce8:	b9008ba0 	str	w0, [x29, #136]
  401cec:	b9404fa0 	ldr	w0, [x29, #76]
  401cf0:	51000400 	sub	w0, w0, #0x1
  401cf4:	b9408ba1 	ldr	w1, [x29, #136]
  401cf8:	6b00003f 	cmp	w1, w0
  401cfc:	54fff7ed 	b.le	401bf8 <kalman+0xd98>
  401d00:	b9408fa0 	ldr	w0, [x29, #140]
  401d04:	11000400 	add	w0, w0, #0x1
  401d08:	b9008fa0 	str	w0, [x29, #140]
  401d0c:	b9404fa0 	ldr	w0, [x29, #76]
  401d10:	51000400 	sub	w0, w0, #0x1
  401d14:	b9408fa1 	ldr	w1, [x29, #140]
  401d18:	6b00003f 	cmp	w1, w0
  401d1c:	54fff6ad 	b.le	401bf0 <kalman+0xd90>
  401d20:	b94083a0 	ldr	w0, [x29, #128]
  401d24:	11000400 	add	w0, w0, #0x1
  401d28:	b90083a0 	str	w0, [x29, #128]
  401d2c:	b94083a1 	ldr	w1, [x29, #128]
  401d30:	b94047a0 	ldr	w0, [x29, #68]
  401d34:	6b00003f 	cmp	w1, w0
  401d38:	54ffa16d 	b.le	401164 <kalman+0x304>
  401d3c:	f9403ba0 	ldr	x0, [x29, #112]
  401d40:	97fffa10 	bl	400580 <free@plt>
  401d44:	f94037a0 	ldr	x0, [x29, #104]
  401d48:	97fffa0e 	bl	400580 <free@plt>
  401d4c:	f94033a0 	ldr	x0, [x29, #96]
  401d50:	97fffa0c 	bl	400580 <free@plt>
  401d54:	b9407ba0 	ldr	w0, [x29, #120]
  401d58:	a8c97bfd 	ldp	x29, x30, [sp], #144
  401d5c:	d65f03c0 	ret

0000000000401d60 <__libc_csu_init>:
  401d60:	a9bc7bfd 	stp	x29, x30, [sp, #-64]!
  401d64:	910003fd 	mov	x29, sp
  401d68:	a901d7f4 	stp	x20, x21, [sp, #24]
  401d6c:	b0000094 	adrp	x20, 412000 <__FRAME_END__+0x101e0>
  401d70:	b0000095 	adrp	x21, 412000 <__FRAME_END__+0x101e0>
  401d74:	91374294 	add	x20, x20, #0xdd0
  401d78:	913722b5 	add	x21, x21, #0xdc8
  401d7c:	a902dff6 	stp	x22, x23, [sp, #40]
  401d80:	cb150294 	sub	x20, x20, x21
  401d84:	f9001ff8 	str	x24, [sp, #56]
  401d88:	2a0003f6 	mov	w22, w0
  401d8c:	aa0103f7 	mov	x23, x1
  401d90:	9343fe94 	asr	x20, x20, #3
  401d94:	aa0203f8 	mov	x24, x2
  401d98:	97fff9d8 	bl	4004f8 <_init>
  401d9c:	b4000194 	cbz	x20, 401dcc <__libc_csu_init+0x6c>
  401da0:	f9000bb3 	str	x19, [x29, #16]
  401da4:	d2800013 	mov	x19, #0x0                   	// #0
  401da8:	f8737aa3 	ldr	x3, [x21, x19, lsl #3]
  401dac:	aa1803e2 	mov	x2, x24
  401db0:	aa1703e1 	mov	x1, x23
  401db4:	2a1603e0 	mov	w0, w22
  401db8:	91000673 	add	x19, x19, #0x1
  401dbc:	d63f0060 	blr	x3
  401dc0:	eb13029f 	cmp	x20, x19
  401dc4:	54ffff21 	b.ne	401da8 <__libc_csu_init+0x48>  // b.any
  401dc8:	f9400bb3 	ldr	x19, [x29, #16]
  401dcc:	a941d7f4 	ldp	x20, x21, [sp, #24]
  401dd0:	a942dff6 	ldp	x22, x23, [sp, #40]
  401dd4:	f9401ff8 	ldr	x24, [sp, #56]
  401dd8:	a8c47bfd 	ldp	x29, x30, [sp], #64
  401ddc:	d65f03c0 	ret

0000000000401de0 <__libc_csu_fini>:
  401de0:	d65f03c0 	ret

Disassembly of section .fini:

0000000000401de4 <_fini>:
  401de4:	a9bf7bfd 	stp	x29, x30, [sp, #-16]!
  401de8:	910003fd 	mov	x29, sp
  401dec:	a8c17bfd 	ldp	x29, x30, [sp], #16
  401df0:	d65f03c0 	ret
